diff --git a/README.md b/README.md
index cd67603885e48e3925591ef1d95956a83fbda6bf..8e1b7b670fa774bed21d07d550b0f9f3c0c28cd6 100644
--- a/README.md
+++ b/README.md
@@ -84,7 +84,7 @@ The task set covers object rearrangement, articulated-object interaction, assemb
 | Tactile-signal dimension | 60 |
 | Episodes with global language annotations | 28,993 (100%) |
 | Temporally grounded language segments | 217,642 |
-| Frames covered by temporal language segments | 28,897,909 (89.2%) |
+| Frames covered by temporal language segments | 28,920,254 (89.3%) |
 | Distinct skill labels | 45 |
 
 </details>
@@ -389,7 +389,7 @@ Each episode is decomposed into language segments. A segment contains:
 | `label` | Annotation type: `subtasks`, or `hand_actions` for the per-hand action descriptions that `play_tic_tac_toe` carries under its step subtasks |
 | `id` | Episode-local subtask identifier |
 
-Across the release, all 28,993 episodes contain language annotations. The dataset provides 217,642 temporal subtask segments spanning 28,897,909 frames, or approximately 89.2% of all frames. The segments use 45 nonempty skill labels; recovered descriptions may not have a separate skill label. Frames outside a fine-grained segment remain associated with the episode-level task description.
+Across the release, all 28,993 episodes contain language annotations. The dataset provides 217,642 temporal subtask segments spanning 28,920,254 frames, or approximately 89.3% of all frames. The segments use 45 nonempty skill labels; recovered descriptions may not have a separate skill label. Frames outside a fine-grained segment remain associated with the episode-level task description.
 
 For example, a plate-cleaning trajectory is decomposed into phases such as:
 
diff --git a/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/data/chunk-000/episode_000021.parquet b/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/data/chunk-000/episode_000021.parquet
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+++ b/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/data/chunk-000/episode_000021.parquet
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index ca5738723a8b32d4a4bfb886c02a53c114de7285..4616382e4112abc6403b6d5d6ba6a0f593ddbda7 100644
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index 8309fed65462b040e4ff44ed292d945ea0976440..7c844519902452008b8e5264e40ed7f33ab60472 100644
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diff --git a/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotation_cache.jsonl b/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotation_cache.jsonl
index ba0012cea875849aab545289414e4645a1bbb1f9..d5c5653dd29b67980189110ae44ee3923062454c 100644
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+++ b/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotation_cache.jsonl
@@ -19,7 +19,7 @@
 {"source_uid": "772782c8367cb6d0", "num_frames": 1339, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 258, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 560, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 561, "end_step": 848, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 849, "end_step": 1132, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 1133, "end_step": 1182, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 258, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 560, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 561, "end_step": 848, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 849, "end_step": 1132, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 1133, "end_step": 1182, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_26_10_22_39_train/POC22048_2026_05_26_10_50_00_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 18, "v40_language_source": "previous_published_lerobot", "episode_index": 18}
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 {"source_uid": "8085f10f1c3eb267", "num_frames": 1307, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 285, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 507, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 796, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 797, "end_step": 1092, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1145, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 285, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 507, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 796, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 797, "end_step": 1092, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1145, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_26_10_22_39_train/POC22048_2026_05_26_10_58_04_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 23, "v40_language_source": "previous_published_lerobot", "episode_index": 24}
@@ -220,10 +220,10 @@
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@@ -274,7 +274,7 @@
 {"source_uid": "f9584977a86677fe", "num_frames": 937, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 351, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 352, "end_step": 459, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 591, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 714, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 777, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 351, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 352, "end_step": 459, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 591, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 714, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 777, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_26_10_22_39_train/POC22048_2026_05_26_16_56_01_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 269, "v40_language_source": "previous_published_lerobot", "episode_index": 273}
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+{"source_uid": "6b600425462d6442", "num_frames": 666, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 516, "id": "PbYLwwOAY9XnvJrE3h0dG"}, {"label": "subtasks", "start_step": 184, "end_step": 270, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 362, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 363, "end_step": 458, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 506, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 517, "end_step": 665, "id": "f8MaKmRiSJUwMbr65X0GG"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 270, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 362, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 363, "end_step": 458, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 506, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 276, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "eb239482be0de6a5", "num_frames": 1006, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 357, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 358, "end_step": 474, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 627, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 777, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 778, "end_step": 846, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 357, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 358, "end_step": 474, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 627, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 777, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 778, "end_step": 846, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_26_10_22_39_train/POC22048_2026_05_26_16_58_36_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 272, "v40_language_source": "previous_published_lerobot", "episode_index": 277}
 {"source_uid": "9290487b75e2be63", "num_frames": 1051, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 360, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 507, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 654, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 819, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 888, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 360, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 507, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 654, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 819, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 888, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_26_10_22_39_train/POC22048_2026_05_26_16_59_12_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 273, "v40_language_source": "previous_published_lerobot", "episode_index": 278}
 {"source_uid": "895f183ee674c9b3", "num_frames": 1057, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 336, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 483, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 484, "end_step": 645, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 646, "end_step": 831, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 915, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 336, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 483, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 484, "end_step": 645, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 646, "end_step": 831, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 915, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_26_10_22_39_train/POC22048_2026_05_26_17_01_50_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 274, "v40_language_source": "previous_published_lerobot", "episode_index": 279}
diff --git a/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotations.jsonl b/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotations.jsonl
index ba0012cea875849aab545289414e4645a1bbb1f9..d5c5653dd29b67980189110ae44ee3923062454c 100644
--- a/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotations.jsonl
+++ b/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotations.jsonl
@@ -19,7 +19,7 @@
 {"source_uid": "772782c8367cb6d0", "num_frames": 1339, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 258, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 560, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 561, "end_step": 848, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 849, "end_step": 1132, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 1133, "end_step": 1182, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 258, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 560, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 561, "end_step": 848, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 849, "end_step": 1132, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 1133, "end_step": 1182, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_26_10_22_39_train/POC22048_2026_05_26_10_50_00_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 18, "v40_language_source": "previous_published_lerobot", "episode_index": 18}
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@@ -220,10 +220,10 @@
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@@ -274,7 +274,7 @@
 {"source_uid": "f9584977a86677fe", "num_frames": 937, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 351, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 352, "end_step": 459, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 591, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 714, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 777, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 351, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 352, "end_step": 459, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 591, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 714, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 777, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_26_10_22_39_train/POC22048_2026_05_26_16_56_01_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 269, "v40_language_source": "previous_published_lerobot", "episode_index": 273}
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 {"source_uid": "9290487b75e2be63", "num_frames": 1051, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 360, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 507, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 654, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 819, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 888, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 360, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 507, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 654, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 819, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 888, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_26_10_22_39_train/POC22048_2026_05_26_16_59_12_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 273, "v40_language_source": "previous_published_lerobot", "episode_index": 278}
 {"source_uid": "895f183ee674c9b3", "num_frames": 1057, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 336, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 483, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 484, "end_step": 645, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 646, "end_step": 831, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 915, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 336, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 483, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 484, "end_step": 645, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 646, "end_step": 831, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 915, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_26_10_22_39_train/POC22048_2026_05_26_17_01_50_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 274, "v40_language_source": "previous_published_lerobot", "episode_index": 279}
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@@ -19,7 +19,7 @@
 {"source_uid": "772782c8367cb6d0", "num_frames": 1339, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 258, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 560, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 561, "end_step": 848, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 849, "end_step": 1132, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 1133, "end_step": 1182, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 258, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 560, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 561, "end_step": 848, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 849, "end_step": 1132, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 1133, "end_step": 1182, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_26_10_22_39_train/POC22048_2026_05_26_10_50_00_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 18, "v40_language_source": "previous_published_lerobot", "episode_index": 18}
 {"source_uid": "4bd9347e7951f642", "num_frames": 1388, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 342, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 597, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 876, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 1180, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 1181, "end_step": 1228, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 342, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 597, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 876, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 1180, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 1181, "end_step": 1228, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_26_10_22_39_train/POC22048_2026_05_26_10_52_14_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 19, "v40_language_source": "previous_published_lerobot", "episode_index": 19}
 {"source_uid": "08e1cfd7daa50b8b", "num_frames": 1320, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 301, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 302, "end_step": 549, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 550, "end_step": 833, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 834, "end_step": 1114, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 1115, "end_step": 1161, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 301, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 302, "end_step": 549, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 550, "end_step": 833, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 834, "end_step": 1114, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 1115, "end_step": 1161, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_26_10_22_39_train/POC22048_2026_05_26_10_53_23_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 20, "v40_language_source": "previous_published_lerobot", "episode_index": 20}
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@@ -220,10 +220,10 @@
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@@ -274,7 +274,7 @@
 {"source_uid": "f9584977a86677fe", "num_frames": 937, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 351, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 352, "end_step": 459, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 591, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 714, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 777, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 351, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 352, "end_step": 459, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 591, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 714, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 777, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_26_10_22_39_train/POC22048_2026_05_26_16_56_01_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 269, "v40_language_source": "previous_published_lerobot", "episode_index": 273}
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+{"source_uid": "6b600425462d6442", "num_frames": 666, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 516, "id": "PbYLwwOAY9XnvJrE3h0dG"}, {"label": "subtasks", "start_step": 184, "end_step": 270, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 362, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 363, "end_step": 458, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 506, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 517, "end_step": 665, "id": "f8MaKmRiSJUwMbr65X0GG"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 270, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 362, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 363, "end_step": 458, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 506, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 276, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "eb239482be0de6a5", "num_frames": 1006, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 357, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 358, "end_step": 474, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 627, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 777, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 778, "end_step": 846, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 357, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 358, "end_step": 474, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 627, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 777, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 778, "end_step": 846, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_26_10_22_39_train/POC22048_2026_05_26_16_58_36_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 272, "v40_language_source": "previous_published_lerobot", "episode_index": 277}
 {"source_uid": "9290487b75e2be63", "num_frames": 1051, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 360, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 507, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 654, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 819, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 888, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 360, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 507, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 654, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 819, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 888, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_26_10_22_39_train/POC22048_2026_05_26_16_59_12_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 273, "v40_language_source": "previous_published_lerobot", "episode_index": 278}
 {"source_uid": "895f183ee674c9b3", "num_frames": 1057, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 336, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 483, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 484, "end_step": 645, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 646, "end_step": 831, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 915, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 336, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 483, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 484, "end_step": 645, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 646, "end_step": 831, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 915, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_26_10_22_39_train/POC22048_2026_05_26_17_01_50_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 274, "v40_language_source": "previous_published_lerobot", "episode_index": 279}
diff --git a/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v3.0/meta/annotations.jsonl b/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v3.0/meta/annotations.jsonl
index ba0012cea875849aab545289414e4645a1bbb1f9..d5c5653dd29b67980189110ae44ee3923062454c 100644
--- a/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v3.0/meta/annotations.jsonl
+++ b/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v3.0/meta/annotations.jsonl
@@ -19,7 +19,7 @@
 {"source_uid": "772782c8367cb6d0", "num_frames": 1339, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 258, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 560, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 561, "end_step": 848, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 849, "end_step": 1132, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 1133, "end_step": 1182, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 258, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 560, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 561, "end_step": 848, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 849, "end_step": 1132, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 1133, "end_step": 1182, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_26_10_22_39_train/POC22048_2026_05_26_10_50_00_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 18, "v40_language_source": "previous_published_lerobot", "episode_index": 18}
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@@ -220,10 +220,10 @@
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@@ -274,7 +274,7 @@
 {"source_uid": "f9584977a86677fe", "num_frames": 937, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 351, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 352, "end_step": 459, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 591, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 714, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 777, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 351, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 352, "end_step": 459, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 591, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 714, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 777, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_26_10_22_39_train/POC22048_2026_05_26_16_56_01_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 269, "v40_language_source": "previous_published_lerobot", "episode_index": 273}
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 {"source_uid": "9290487b75e2be63", "num_frames": 1051, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 360, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 507, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 654, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 819, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 888, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 360, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 507, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 654, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 819, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 888, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_26_10_22_39_train/POC22048_2026_05_26_16_59_12_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 273, "v40_language_source": "previous_published_lerobot", "episode_index": 278}
 {"source_uid": "895f183ee674c9b3", "num_frames": 1057, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 336, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 483, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 484, "end_step": 645, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 646, "end_step": 831, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 915, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 336, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 483, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 484, "end_step": 645, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 646, "end_step": 831, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 915, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_26_10_22_39_train/POC22048_2026_05_26_17_01_50_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_26_10_22_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 274, "v40_language_source": "previous_published_lerobot", "episode_index": 279}
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+++ b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v2.1/meta/annotation_cache.jsonl
@@ -36,7 +36,7 @@
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 {"source_uid": "e8ab69992c077ee0", "num_frames": 807, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 177, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 178, "end_step": 309, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 310, "end_step": 429, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 430, "end_step": 555, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 556, "end_step": 639, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 177, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 178, "end_step": 309, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 310, "end_step": 429, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 430, "end_step": 555, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 556, "end_step": 639, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_11_20_38_train/POC22048_2026_05_27_13_58_39_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 38, "v40_language_source": "previous_published_lerobot", "episode_index": 36}
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 {"source_uid": "9f56d6c9f4a7cfb9", "num_frames": 803, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 276, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 420, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 546, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 639, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 276, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 420, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 546, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 639, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_11_20_38_train/POC22048_2026_05_27_14_00_07_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 40, "v40_language_source": "previous_published_lerobot", "episode_index": 39}
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@@ -83,7 +83,7 @@
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 {"source_uid": "0e285fcafdcaf34e", "num_frames": 854, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 177, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 178, "end_step": 336, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 459, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 612, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 684, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 177, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 178, "end_step": 336, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 459, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 612, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 684, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_11_20_38_train/POC22048_2026_05_27_14_24_50_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 86, "v40_language_source": "previous_published_lerobot", "episode_index": 86}
 {"source_uid": "f19902a02f7f134f", "num_frames": 877, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 330, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 465, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 466, "end_step": 621, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 705, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 330, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 465, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 466, "end_step": 621, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 705, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_11_20_38_train/POC22048_2026_05_27_14_25_20_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 87, "v40_language_source": "previous_published_lerobot", "episode_index": 87}
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diff --git a/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v2.1/meta/annotations.jsonl b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v2.1/meta/annotations.jsonl
index 268cd3ddd4517336ba6021f3f09cf15b680500e5..5bc67522d1771eec829eab4567dcc5695ea3d266 100644
--- a/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v2.1/meta/annotations.jsonl
+++ b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v2.1/meta/annotations.jsonl
@@ -36,7 +36,7 @@
 {"source_uid": "688e1481f84714ef", "num_frames": 772, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 303, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 429, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 430, "end_step": 537, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 609, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 303, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 429, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 430, "end_step": 537, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 609, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_11_20_38_train/POC22048_2026_05_27_13_58_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 37, "v40_language_source": "previous_published_lerobot", "episode_index": 35}
 {"source_uid": "e8ab69992c077ee0", "num_frames": 807, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 177, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 178, "end_step": 309, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 310, "end_step": 429, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 430, "end_step": 555, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 556, "end_step": 639, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 177, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 178, "end_step": 309, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 310, "end_step": 429, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 430, "end_step": 555, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 556, "end_step": 639, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_11_20_38_train/POC22048_2026_05_27_13_58_39_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 38, "v40_language_source": "previous_published_lerobot", "episode_index": 36}
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 {"source_uid": "9f56d6c9f4a7cfb9", "num_frames": 803, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 276, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 420, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 546, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 639, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 276, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 420, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 546, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 639, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_11_20_38_train/POC22048_2026_05_27_14_00_07_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 40, "v40_language_source": "previous_published_lerobot", "episode_index": 39}
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@@ -83,7 +83,7 @@
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 {"source_uid": "0e285fcafdcaf34e", "num_frames": 854, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 177, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 178, "end_step": 336, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 459, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 612, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 684, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 177, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 178, "end_step": 336, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 459, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 612, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 684, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_11_20_38_train/POC22048_2026_05_27_14_24_50_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 86, "v40_language_source": "previous_published_lerobot", "episode_index": 86}
 {"source_uid": "f19902a02f7f134f", "num_frames": 877, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 330, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 465, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 466, "end_step": 621, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 705, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 330, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 465, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 466, "end_step": 621, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 705, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_11_20_38_train/POC22048_2026_05_27_14_25_20_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 87, "v40_language_source": "previous_published_lerobot", "episode_index": 87}
 {"source_uid": "468652498f2ed909", "num_frames": 870, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 189, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 333, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 334, "end_step": 480, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 633, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 708, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 189, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 333, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 334, "end_step": 480, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 633, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 708, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_11_20_38_train/POC22048_2026_05_27_14_25_52_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 88, "v40_language_source": "previous_published_lerobot", "episode_index": 88}
diff --git a/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v2.1/meta/episodes_stats.jsonl b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v2.1/meta/episodes_stats.jsonl
index aa64ed8531f231b801b9c55c9b485976e3aaf218..f0dca059d7d85604698e2640e599066308ec9eeb 100644
--- a/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v2.1/meta/episodes_stats.jsonl
+++ b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -36,7 +36,7 @@
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diff --git a/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v3.0/data/chunk-000/file-000.parquet b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v3.0/data/chunk-000/file-000.parquet
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+++ b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v3.0/data/chunk-000/file-000.parquet
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diff --git a/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v3.0/meta/annotation_cache.jsonl b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v3.0/meta/annotation_cache.jsonl
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--- a/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v3.0/meta/annotation_cache.jsonl
+++ b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v3.0/meta/annotation_cache.jsonl
@@ -36,7 +36,7 @@
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 {"source_uid": "9f56d6c9f4a7cfb9", "num_frames": 803, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 276, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 420, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 546, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 639, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 276, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 420, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 546, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 639, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_11_20_38_train/POC22048_2026_05_27_14_00_07_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 40, "v40_language_source": "previous_published_lerobot", "episode_index": 39}
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@@ -83,7 +83,7 @@
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 {"source_uid": "0e285fcafdcaf34e", "num_frames": 854, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 177, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 178, "end_step": 336, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 459, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 612, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 684, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 177, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 178, "end_step": 336, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 459, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 612, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 684, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_11_20_38_train/POC22048_2026_05_27_14_24_50_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 86, "v40_language_source": "previous_published_lerobot", "episode_index": 86}
 {"source_uid": "f19902a02f7f134f", "num_frames": 877, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 330, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 465, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 466, "end_step": 621, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 705, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 330, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 465, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 466, "end_step": 621, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 705, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_11_20_38_train/POC22048_2026_05_27_14_25_20_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 87, "v40_language_source": "previous_published_lerobot", "episode_index": 87}
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diff --git a/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v3.0/meta/annotations.jsonl b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v3.0/meta/annotations.jsonl
index 268cd3ddd4517336ba6021f3f09cf15b680500e5..5bc67522d1771eec829eab4567dcc5695ea3d266 100644
--- a/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v3.0/meta/annotations.jsonl
+++ b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v3.0/meta/annotations.jsonl
@@ -36,7 +36,7 @@
 {"source_uid": "688e1481f84714ef", "num_frames": 772, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 303, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 429, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 430, "end_step": 537, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 609, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 303, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 429, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 430, "end_step": 537, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 609, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_11_20_38_train/POC22048_2026_05_27_13_58_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 37, "v40_language_source": "previous_published_lerobot", "episode_index": 35}
 {"source_uid": "e8ab69992c077ee0", "num_frames": 807, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 177, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 178, "end_step": 309, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 310, "end_step": 429, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 430, "end_step": 555, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 556, "end_step": 639, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 177, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 178, "end_step": 309, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 310, "end_step": 429, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 430, "end_step": 555, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 556, "end_step": 639, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_11_20_38_train/POC22048_2026_05_27_13_58_39_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 38, "v40_language_source": "previous_published_lerobot", "episode_index": 36}
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 {"source_uid": "9f56d6c9f4a7cfb9", "num_frames": 803, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 276, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 420, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 546, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 639, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 276, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 420, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 546, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 639, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_11_20_38_train/POC22048_2026_05_27_14_00_07_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_11_20_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 40, "v40_language_source": "previous_published_lerobot", "episode_index": 39}
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@@ -83,7 +83,7 @@
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index 433d5eb6bbfe5bc861dd580cd1bf4c79617e2bb3..4044e63343578eb55f30e70c7a02a5d6c6fcec7c 100644
--- a/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/data/chunk-000/episode_000091.parquet
+++ b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/data/chunk-000/episode_000091.parquet
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diff --git a/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotation_cache.jsonl b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotation_cache.jsonl
index 5d53ec9233e618fece612d1754c61b3fbdcb45df..944f8c65a15236ace46090586675a6d2784042b9 100644
--- a/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotation_cache.jsonl
+++ b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotation_cache.jsonl
@@ -89,7 +89,7 @@
 {"source_uid": "cb068b91cedbbece", "num_frames": 682, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 154, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 248, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 352, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 353, "end_step": 464, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 465, "end_step": 520, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 154, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 248, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 352, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 353, "end_step": 464, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 465, "end_step": 520, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_15_49_10_train/POC22048_2026_05_27_20_25_06_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 90, "v40_language_source": "previous_published_lerobot", "episode_index": 88}
 {"source_uid": "88552e604b2f56df", "num_frames": 734, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 178, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 276, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 384, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 512, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 513, "end_step": 576, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 178, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 276, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 384, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 512, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 513, "end_step": 576, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_15_49_10_train/POC22048_2026_05_27_20_25_57_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 91, "v40_language_source": "previous_published_lerobot", "episode_index": 89}
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 {"source_uid": "3be63bd2eed9091a", "num_frames": 721, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 196, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 197, "end_step": 284, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 376, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 377, "end_step": 492, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 560, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 196, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 197, "end_step": 284, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 376, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 377, "end_step": 492, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 560, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_15_49_10_train/POC22048_2026_05_27_20_27_14_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 93, "v40_language_source": "previous_published_lerobot", "episode_index": 92}
 {"source_uid": "f2977801328c1a1e", "num_frames": 664, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 250, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 338, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 339, "end_step": 440, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 441, "end_step": 498, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 250, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 338, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 339, "end_step": 440, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 441, "end_step": 498, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_15_49_10_train/POC22048_2026_05_27_20_27_39_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 94, "v40_language_source": "previous_published_lerobot", "episode_index": 93}
 {"source_uid": "b41e73246d4dae82", "num_frames": 864, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 182, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 183, "end_step": 280, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 384, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 596, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 597, "end_step": 656, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 182, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 183, "end_step": 280, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 384, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 596, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 597, "end_step": 656, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_15_49_10_train/POC22048_2026_05_27_20_28_02_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 95, "v40_language_source": "previous_published_lerobot", "episode_index": 94}
diff --git a/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotations.jsonl b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotations.jsonl
index 5d53ec9233e618fece612d1754c61b3fbdcb45df..944f8c65a15236ace46090586675a6d2784042b9 100644
--- a/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotations.jsonl
+++ b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotations.jsonl
@@ -89,7 +89,7 @@
 {"source_uid": "cb068b91cedbbece", "num_frames": 682, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 154, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 248, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 352, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 353, "end_step": 464, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 465, "end_step": 520, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 154, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 248, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 352, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 353, "end_step": 464, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 465, "end_step": 520, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_15_49_10_train/POC22048_2026_05_27_20_25_06_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 90, "v40_language_source": "previous_published_lerobot", "episode_index": 88}
 {"source_uid": "88552e604b2f56df", "num_frames": 734, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 178, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 276, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 384, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 512, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 513, "end_step": 576, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 178, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 276, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 384, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 512, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 513, "end_step": 576, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_15_49_10_train/POC22048_2026_05_27_20_25_57_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 91, "v40_language_source": "previous_published_lerobot", "episode_index": 89}
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+{"source_uid": "fbaef1d246c4481b", "num_frames": 687, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 190, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 537, "id": "t0HyRb6IlD-fIDSjYE5IE"}, {"label": "subtasks", "start_step": 191, "end_step": 301, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 302, "end_step": 393, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 394, "end_step": 489, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 490, "end_step": 537, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 538, "end_step": 686, "id": "P3mtKCEr-I3LniHuuJlpi"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 190, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 191, "end_step": 301, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 302, "end_step": 393, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 394, "end_step": 489, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 490, "end_step": 537, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 91, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "3be63bd2eed9091a", "num_frames": 721, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 196, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 197, "end_step": 284, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 376, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 377, "end_step": 492, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 560, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 196, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 197, "end_step": 284, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 376, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 377, "end_step": 492, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 560, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_15_49_10_train/POC22048_2026_05_27_20_27_14_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 93, "v40_language_source": "previous_published_lerobot", "episode_index": 92}
 {"source_uid": "f2977801328c1a1e", "num_frames": 664, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 250, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 338, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 339, "end_step": 440, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 441, "end_step": 498, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 250, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 338, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 339, "end_step": 440, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 441, "end_step": 498, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_15_49_10_train/POC22048_2026_05_27_20_27_39_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 94, "v40_language_source": "previous_published_lerobot", "episode_index": 93}
 {"source_uid": "b41e73246d4dae82", "num_frames": 864, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 182, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 183, "end_step": 280, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 384, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 596, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 597, "end_step": 656, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 182, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 183, "end_step": 280, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 384, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 596, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 597, "end_step": 656, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_15_49_10_train/POC22048_2026_05_27_20_28_02_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 95, "v40_language_source": "previous_published_lerobot", "episode_index": 94}
diff --git a/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/episodes_stats.jsonl b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/episodes_stats.jsonl
index d6130c45c114eb267421f57dd43aa83b92175200..cdf955f79221a0f23f9fe25e5e4db06ff39bac80 100644
--- a/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/episodes_stats.jsonl
+++ b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -89,7 +89,7 @@
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+++ b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v3.0/data/chunk-000/file-000.parquet
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diff --git a/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v3.0/meta/annotation_cache.jsonl b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v3.0/meta/annotation_cache.jsonl
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--- a/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v3.0/meta/annotation_cache.jsonl
+++ b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v3.0/meta/annotation_cache.jsonl
@@ -89,7 +89,7 @@
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 {"source_uid": "88552e604b2f56df", "num_frames": 734, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 178, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 276, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 384, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 512, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 513, "end_step": 576, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 178, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 179, "end_step": 276, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 384, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 512, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 513, "end_step": 576, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_15_49_10_train/POC22048_2026_05_27_20_25_57_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 91, "v40_language_source": "previous_published_lerobot", "episode_index": 89}
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+{"source_uid": "fbaef1d246c4481b", "num_frames": 687, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 190, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 537, "id": "t0HyRb6IlD-fIDSjYE5IE"}, {"label": "subtasks", "start_step": 191, "end_step": 301, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 302, "end_step": 393, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 394, "end_step": 489, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 490, "end_step": 537, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 538, "end_step": 686, "id": "P3mtKCEr-I3LniHuuJlpi"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 190, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 191, "end_step": 301, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 302, "end_step": 393, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 394, "end_step": 489, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 490, "end_step": 537, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 91, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "3be63bd2eed9091a", "num_frames": 721, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 196, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 197, "end_step": 284, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 376, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 377, "end_step": 492, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 560, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 196, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 197, "end_step": 284, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 376, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 377, "end_step": 492, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 560, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_15_49_10_train/POC22048_2026_05_27_20_27_14_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 93, "v40_language_source": "previous_published_lerobot", "episode_index": 92}
 {"source_uid": "f2977801328c1a1e", "num_frames": 664, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 250, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 338, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 339, "end_step": 440, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 441, "end_step": 498, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 250, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 338, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 339, "end_step": 440, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 441, "end_step": 498, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_15_49_10_train/POC22048_2026_05_27_20_27_39_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 94, "v40_language_source": "previous_published_lerobot", "episode_index": 93}
 {"source_uid": "b41e73246d4dae82", "num_frames": 864, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 182, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 183, "end_step": 280, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 384, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 596, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 597, "end_step": 656, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 182, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 183, "end_step": 280, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 384, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 596, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 597, "end_step": 656, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_15_49_10_train/POC22048_2026_05_27_20_28_02_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 95, "v40_language_source": "previous_published_lerobot", "episode_index": 94}
diff --git a/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v3.0/meta/annotations.jsonl b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v3.0/meta/annotations.jsonl
index 5d53ec9233e618fece612d1754c61b3fbdcb45df..944f8c65a15236ace46090586675a6d2784042b9 100644
--- a/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v3.0/meta/annotations.jsonl
+++ b/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v3.0/meta/annotations.jsonl
@@ -89,7 +89,7 @@
 {"source_uid": "cb068b91cedbbece", "num_frames": 682, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 154, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 248, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 352, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 353, "end_step": 464, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 465, "end_step": 520, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 154, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 248, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 352, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 353, "end_step": 464, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 465, "end_step": 520, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_15_49_10_train/POC22048_2026_05_27_20_25_06_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 90, "v40_language_source": "previous_published_lerobot", "episode_index": 88}
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 {"source_uid": "f2977801328c1a1e", "num_frames": 664, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 250, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 338, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 339, "end_step": 440, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 441, "end_step": 498, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 250, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 338, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 339, "end_step": 440, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 441, "end_step": 498, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_15_49_10_train/POC22048_2026_05_27_20_27_39_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 94, "v40_language_source": "previous_published_lerobot", "episode_index": 93}
 {"source_uid": "b41e73246d4dae82", "num_frames": 864, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Lint Roller Cleaning on Garment | Instruction: Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back. | Scene: A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back. | Success: The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "tags": {"task_name": "Lint Roller Cleaning on Garment", "task_instruction": "Pick up the lint roller with the right hand. Roll it once from top to bottom along the garment laid out on the table. Then roll it a second time from top to bottom. Finally, roll it a third time from top to bottom and place the lint roller back.", "scene_description": "A garment is laid flat on the table, and a lint roller is placed nearby. The robot needs to pick up the lint roller, roll over the garment from top to bottom three times, and then place the lint roller back.", "success_criteria": "The garment is rolled over three times from top to bottom, and the lint roller is placed back stably on the table.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 182, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 183, "end_step": 280, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 384, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 596, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 597, "end_step": 656, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 182, "id": "subtask-001", "text": "Pick up the lint roller from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 183, "end_step": 280, "id": "subtask-002", "text": "Roll the lint roller from top to bottom over the garment for the first pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 384, "id": "subtask-003", "text": "Roll the lint roller from top to bottom over the garment for the second pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 596, "id": "subtask-004", "text": "Roll the lint roller from top to bottom over the garment for the third pass with the right hand. | Skill: roll", "task_skill": "roll", "atomic_action": []}, {"label": "subtasks", "start_step": 597, "end_step": 656, "id": "subtask-005", "text": "Place the lint roller back on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Lint_Roller_Cleaning_on_Garment/season_POC22048_2026_05_27_15_49_10_train/POC22048_2026_05_27_20_28_02_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/clean_garment_with_lint_roller/season_POC22048_2026_05_27_15_49_10_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 95, "v40_language_source": "previous_published_lerobot", "episode_index": 94}
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@@ -36,7 +36,7 @@
 {"source_uid": "1ba592d58a55c042", "num_frames": 953, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 348, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 564, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 744, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 348, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 564, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 744, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_29_20_36_04_train/POC22054_2026_05_29_20_57_55_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 36, "v40_language_source": "previous_published_lerobot", "episode_index": 35}
 {"source_uid": "4597c02a086064d9", "num_frames": 877, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 270, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 468, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 672, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 270, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 468, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 672, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_29_20_36_04_train/POC22054_2026_05_29_20_58_33_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 37, "v40_language_source": "previous_published_lerobot", "episode_index": 36}
 {"source_uid": "9471293151f629da", "num_frames": 824, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 258, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 516, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 630, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 258, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 516, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 630, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_29_20_36_04_train/POC22054_2026_05_29_20_59_14_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 38, "v40_language_source": "previous_published_lerobot", "episode_index": 37}
-{"source_uid": "21e25752f28baa6c", "num_frames": 700, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 550, "id": "enSJNvga0q2-jfnItxSVz"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 551, "end_step": 699, "id": "90CCnaHsrQV_w3ihdoOCL"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 38}
+{"source_uid": "21e25752f28baa6c", "num_frames": 700, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 249, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 550, "id": "enSJNvga0q2-jfnItxSVz"}, {"label": "subtasks", "start_step": 250, "end_step": 407, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 408, "end_step": 532, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 551, "end_step": 699, "id": "90CCnaHsrQV_w3ihdoOCL"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 249, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 250, "end_step": 407, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 408, "end_step": 532, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 38, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "4fc6d7a51d80f5a1", "num_frames": 864, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 366, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 576, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 678, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 366, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 576, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 678, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_29_20_36_04_train/POC22054_2026_05_29_21_17_48_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 39, "v40_language_source": "previous_published_lerobot", "episode_index": 39}
 {"source_uid": "6a85eb2f50f6fd17", "num_frames": 898, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 288, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 546, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 696, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 288, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 546, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 696, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_29_20_36_04_train/POC22054_2026_05_29_21_18_21_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 40, "v40_language_source": "previous_published_lerobot", "episode_index": 40}
 {"source_uid": "8ba5476aab36be59", "num_frames": 919, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 300, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 492, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 714, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 300, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 492, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 714, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_29_20_36_04_train/POC22054_2026_05_29_21_18_54_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 41, "v40_language_source": "previous_published_lerobot", "episode_index": 41}
diff --git a/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v2.1/meta/annotations.jsonl b/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v2.1/meta/annotations.jsonl
index 2f371213cbd263543cd9a452c36d1dd8b0199903..e722fd9b2cc2d4afd844fcf1efdda5a9abadc207 100644
--- a/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v2.1/meta/annotations.jsonl
+++ b/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v2.1/meta/annotations.jsonl
@@ -36,7 +36,7 @@
 {"source_uid": "1ba592d58a55c042", "num_frames": 953, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 348, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 564, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 744, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 348, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 564, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 744, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_29_20_36_04_train/POC22054_2026_05_29_20_57_55_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 36, "v40_language_source": "previous_published_lerobot", "episode_index": 35}
 {"source_uid": "4597c02a086064d9", "num_frames": 877, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 270, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 468, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 672, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 270, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 468, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 672, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_29_20_36_04_train/POC22054_2026_05_29_20_58_33_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 37, "v40_language_source": "previous_published_lerobot", "episode_index": 36}
 {"source_uid": "9471293151f629da", "num_frames": 824, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 258, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 516, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 630, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 258, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 516, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 517, "end_step": 630, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_29_20_36_04_train/POC22054_2026_05_29_20_59_14_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 38, "v40_language_source": "previous_published_lerobot", "episode_index": 37}
-{"source_uid": "21e25752f28baa6c", "num_frames": 700, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 550, "id": "enSJNvga0q2-jfnItxSVz"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 551, "end_step": 699, "id": "90CCnaHsrQV_w3ihdoOCL"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 38}
+{"source_uid": "21e25752f28baa6c", "num_frames": 700, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 249, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 550, "id": "enSJNvga0q2-jfnItxSVz"}, {"label": "subtasks", "start_step": 250, "end_step": 407, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 408, "end_step": 532, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 551, "end_step": 699, "id": "90CCnaHsrQV_w3ihdoOCL"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 249, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 250, "end_step": 407, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 408, "end_step": 532, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 38, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "4fc6d7a51d80f5a1", "num_frames": 864, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 366, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 576, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 678, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 366, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 576, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 678, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_29_20_36_04_train/POC22054_2026_05_29_21_17_48_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 39, "v40_language_source": "previous_published_lerobot", "episode_index": 39}
 {"source_uid": "6a85eb2f50f6fd17", "num_frames": 898, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 288, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 546, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 696, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 288, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 546, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 696, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_29_20_36_04_train/POC22054_2026_05_29_21_18_21_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 40, "v40_language_source": "previous_published_lerobot", "episode_index": 40}
 {"source_uid": "8ba5476aab36be59", "num_frames": 919, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 300, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 492, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 714, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 300, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 492, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 714, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_29_20_36_04_train/POC22054_2026_05_29_21_18_54_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 41, "v40_language_source": "previous_published_lerobot", "episode_index": 41}
diff --git a/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v2.1/meta/episodes_stats.jsonl b/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v2.1/meta/episodes_stats.jsonl
index 6a246cf31ac9c73fb20d90bb22142bb43e11a49f..4777bdda435e610ee773622e2f159e0425dd7328 100644
--- a/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v2.1/meta/episodes_stats.jsonl
+++ b/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -36,7 +36,7 @@
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+{"source_uid": "21e25752f28baa6c", "num_frames": 700, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 249, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 550, "id": "enSJNvga0q2-jfnItxSVz"}, {"label": "subtasks", "start_step": 250, "end_step": 407, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 408, "end_step": 532, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 551, "end_step": 699, "id": "90CCnaHsrQV_w3ihdoOCL"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 249, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 250, "end_step": 407, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 408, "end_step": 532, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 38, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "4fc6d7a51d80f5a1", "num_frames": 864, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 366, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 576, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 678, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 366, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 576, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 678, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_29_20_36_04_train/POC22054_2026_05_29_21_17_48_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 39, "v40_language_source": "previous_published_lerobot", "episode_index": 39}
 {"source_uid": "6a85eb2f50f6fd17", "num_frames": 898, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 288, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 546, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 696, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 288, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 546, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 696, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_29_20_36_04_train/POC22054_2026_05_29_21_18_21_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 40, "v40_language_source": "previous_published_lerobot", "episode_index": 40}
 {"source_uid": "8ba5476aab36be59", "num_frames": 919, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 300, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 492, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 714, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 300, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 492, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 714, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_29_20_36_04_train/POC22054_2026_05_29_21_18_54_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 41, "v40_language_source": "previous_published_lerobot", "episode_index": 41}
diff --git a/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v3.0/meta/annotations.jsonl b/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v3.0/meta/annotations.jsonl
index 2f371213cbd263543cd9a452c36d1dd8b0199903..e722fd9b2cc2d4afd844fcf1efdda5a9abadc207 100644
--- a/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v3.0/meta/annotations.jsonl
+++ b/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v3.0/meta/annotations.jsonl
@@ -36,7 +36,7 @@
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--- a/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v3.0/meta/stats.json
+++ b/empty_dustpan_into_bin/season_POC22054_2026_05_29_20_36_04_train/lerobot_v3.0/meta/stats.json
@@ -2532,10 +2532,10 @@
             3
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+            1.2770934641502967
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+            1.1739588895401611
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             46681
@@ -2547,13 +2547,13 @@
             -9.999999999999999e-11
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-            1.0299436530078108
+            0.999960433340098
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-            2.9997391973694767
+            2.9997370005891124
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-            2.9999739198269473
+            2.999973700148912
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diff --git a/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/data/chunk-000/episode_000043.parquet b/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/data/chunk-000/episode_000043.parquet
index 9234e34d5e1803a7169fc5f17579b8c05dd6f6a1..7ad6ae00a7c0ef271d1ab4b3718f2298a612976c 100644
--- a/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/data/chunk-000/episode_000043.parquet
+++ b/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/data/chunk-000/episode_000043.parquet
@@ -1,3 +1,3 @@
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+oid sha256:9928fcc108f0887269339b21cf501e6d86600ae03c61b50cf72e84bc44b9ad6e
+size 676589
diff --git a/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotation_cache.jsonl b/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotation_cache.jsonl
index 4b3f3b2dd5dd1820b3803f259a3aedc3b378e4b0..13d6784e81305ab4c0016cd88185dccbcf8bbe36 100644
--- a/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotation_cache.jsonl
+++ b/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotation_cache.jsonl
@@ -41,7 +41,7 @@
 {"source_uid": "74027d01a077517e", "num_frames": 607, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 348, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 444, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 348, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 444, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_31_13_41_47_train/POC22054_2026_05_31_14_12_08_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 43, "v40_language_source": "previous_published_lerobot", "episode_index": 40}
 {"source_uid": "16a65aef0f4a4603", "num_frames": 585, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 330, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 420, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 330, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 420, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_31_13_41_47_train/POC22054_2026_05_31_14_12_42_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 44, "v40_language_source": "previous_published_lerobot", "episode_index": 41}
 {"source_uid": "f6fc9510f29f309a", "num_frames": 634, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 282, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 396, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 468, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 282, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 396, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 468, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_31_13_41_47_train/POC22054_2026_05_31_14_13_27_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 45, "v40_language_source": "previous_published_lerobot", "episode_index": 42}
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 {"source_uid": "fb3d6d35437ac830", "num_frames": 556, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 306, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 390, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 306, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 390, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_31_13_41_47_train/POC22054_2026_05_31_14_27_52_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 46, "v40_language_source": "previous_published_lerobot", "episode_index": 44}
 {"source_uid": "ad039961fd5875be", "num_frames": 567, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 324, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 408, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 324, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 408, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_31_13_41_47_train/POC22054_2026_05_31_14_28_15_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 47, "v40_language_source": "previous_published_lerobot", "episode_index": 45}
 {"source_uid": "27c50dde54a8d4ea", "num_frames": 590, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 306, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 408, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 306, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 408, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_31_13_41_47_train/POC22054_2026_05_31_14_28_39_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 48, "v40_language_source": "previous_published_lerobot", "episode_index": 46}
diff --git a/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotations.jsonl b/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotations.jsonl
index 4b3f3b2dd5dd1820b3803f259a3aedc3b378e4b0..13d6784e81305ab4c0016cd88185dccbcf8bbe36 100644
--- a/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotations.jsonl
+++ b/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotations.jsonl
@@ -41,7 +41,7 @@
 {"source_uid": "74027d01a077517e", "num_frames": 607, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 348, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 444, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 348, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 444, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_31_13_41_47_train/POC22054_2026_05_31_14_12_08_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 43, "v40_language_source": "previous_published_lerobot", "episode_index": 40}
 {"source_uid": "16a65aef0f4a4603", "num_frames": 585, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 330, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 420, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 330, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 420, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_31_13_41_47_train/POC22054_2026_05_31_14_12_42_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 44, "v40_language_source": "previous_published_lerobot", "episode_index": 41}
 {"source_uid": "f6fc9510f29f309a", "num_frames": 634, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 282, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 396, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 468, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 282, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 396, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 468, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_31_13_41_47_train/POC22054_2026_05_31_14_13_27_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 45, "v40_language_source": "previous_published_lerobot", "episode_index": 42}
-{"source_uid": "d23ff95bd05e5a9e", "num_frames": 494, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 345, "id": "Wo7UrRtku7VYU2FY421-C"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 346, "end_step": 493, "id": "JLTWD76AvC8zIl7G62zki"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 43}
+{"source_uid": "d23ff95bd05e5a9e", "num_frames": 494, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 182, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 345, "id": "Wo7UrRtku7VYU2FY421-C"}, {"label": "subtasks", "start_step": 183, "end_step": 286, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 287, "end_step": 330, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 346, "end_step": 493, "id": "JLTWD76AvC8zIl7G62zki"}, {"label": "error", "start_step": 183, "end_step": 345, "id": "error-001", "note": "The dustpan is never lifted over the bin; the trash is not dumped."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 182, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 183, "end_step": 286, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 287, "end_step": 330, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 43, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "fb3d6d35437ac830", "num_frames": 556, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 306, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 390, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 306, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 390, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_31_13_41_47_train/POC22054_2026_05_31_14_27_52_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 46, "v40_language_source": "previous_published_lerobot", "episode_index": 44}
 {"source_uid": "ad039961fd5875be", "num_frames": 567, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 324, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 408, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 324, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 408, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_31_13_41_47_train/POC22054_2026_05_31_14_28_15_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 47, "v40_language_source": "previous_published_lerobot", "episode_index": 45}
 {"source_uid": "27c50dde54a8d4ea", "num_frames": 590, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 306, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 408, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 306, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 408, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_31_13_41_47_train/POC22054_2026_05_31_14_28_39_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 48, "v40_language_source": "previous_published_lerobot", "episode_index": 46}
diff --git a/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/episodes_stats.jsonl b/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/episodes_stats.jsonl
index 10723ca847767e8c2fe836e9e204630f8d9e0168..6f9aa1b16a15d2d53d3c89b09ccb3e0475c423c6 100644
--- a/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/episodes_stats.jsonl
+++ b/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -41,7 +41,7 @@
 {"episode_index": 40, "stats": {"observation.state": {"min": [0.9053604006767273, -0.8462069034576416, -0.24989433586597443, 0.44586649537086487, -1.056305170059204, -0.7607009410858154, -0.5691712498664856, 0.023268669843673706, -0.2778337299823761, 0.004395305644720793, -0.12375476211309433, 0.01058370154350996, 0.010017895139753819, -6.010126890032552e-05, 0.011246025562286377, 0.011729422025382519, -0.0014051583129912615, -0.060541097074747086, 0.007499005179852247, 0.010389397852122784, 0.012216401286423206, -0.08079619705677032, 0.01285503152757883, 0.010354368016123772, 0.0074399919249117374, -0.018129702657461166, -0.026669571176171303, 0.011395650915801525, 0.01263799611479044, 1.0155750513076782, -0.980441153049469, -0.13656935095787048, 1.349004864692688, 0.012492716312408447, -0.7637771368026733, -0.21483808755874634, 0.03631788492202759, -0.20132622122764587, 0.015073705464601517, -0.12602023780345917, 0.009292028844356537, 0.01207534596323967, 0.0035158428363502026, 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index cb8044ce98ea9ceb854b56cfa7811f0c49122176..14ba8e97cdd7751ad3d38e3932dafd87f80df1c0 100644
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+++ b/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v3.0/data/chunk-000/file-000.parquet
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diff --git a/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v3.0/meta/annotation_cache.jsonl b/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v3.0/meta/annotation_cache.jsonl
index 4b3f3b2dd5dd1820b3803f259a3aedc3b378e4b0..13d6784e81305ab4c0016cd88185dccbcf8bbe36 100644
--- a/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v3.0/meta/annotation_cache.jsonl
+++ b/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v3.0/meta/annotation_cache.jsonl
@@ -41,7 +41,7 @@
 {"source_uid": "74027d01a077517e", "num_frames": 607, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 348, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 444, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 348, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 444, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_31_13_41_47_train/POC22054_2026_05_31_14_12_08_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 43, "v40_language_source": "previous_published_lerobot", "episode_index": 40}
 {"source_uid": "16a65aef0f4a4603", "num_frames": 585, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 330, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 420, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 330, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 420, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_31_13_41_47_train/POC22054_2026_05_31_14_12_42_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 44, "v40_language_source": "previous_published_lerobot", "episode_index": 41}
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 {"source_uid": "fb3d6d35437ac830", "num_frames": 556, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 306, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 390, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 306, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 390, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_31_13_41_47_train/POC22054_2026_05_31_14_27_52_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 46, "v40_language_source": "previous_published_lerobot", "episode_index": 44}
 {"source_uid": "ad039961fd5875be", "num_frames": 567, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 324, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 408, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 324, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 325, "end_step": 408, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_31_13_41_47_train/POC22054_2026_05_31_14_28_15_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 47, "v40_language_source": "previous_published_lerobot", "episode_index": 45}
 {"source_uid": "27c50dde54a8d4ea", "num_frames": 590, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 306, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 408, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 306, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 408, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_31_13_41_47_train/POC22054_2026_05_31_14_28_39_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 48, "v40_language_source": "previous_published_lerobot", "episode_index": 46}
diff --git a/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v3.0/meta/annotations.jsonl b/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v3.0/meta/annotations.jsonl
index 4b3f3b2dd5dd1820b3803f259a3aedc3b378e4b0..13d6784e81305ab4c0016cd88185dccbcf8bbe36 100644
--- a/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v3.0/meta/annotations.jsonl
+++ b/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v3.0/meta/annotations.jsonl
@@ -41,7 +41,7 @@
 {"source_uid": "74027d01a077517e", "num_frames": 607, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 348, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 444, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 348, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 349, "end_step": 444, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_31_13_41_47_train/POC22054_2026_05_31_14_12_08_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 43, "v40_language_source": "previous_published_lerobot", "episode_index": 40}
 {"source_uid": "16a65aef0f4a4603", "num_frames": 585, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 330, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 420, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 330, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 420, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_31_13_41_47_train/POC22054_2026_05_31_14_12_42_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 44, "v40_language_source": "previous_published_lerobot", "episode_index": 41}
 {"source_uid": "f6fc9510f29f309a", "num_frames": 634, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 282, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 396, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 468, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 282, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 396, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 468, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Dump_Trash/season_POC22054_2026_05_31_13_41_47_train/POC22054_2026_05_31_14_13_27_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/empty_dustpan_into_bin/season_POC22054_2026_05_31_13_41_47_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 45, "v40_language_source": "previous_published_lerobot", "episode_index": 42}
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+{"source_uid": "d23ff95bd05e5a9e", "num_frames": 494, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Dump Trash from Dustpan into Trash Bin | Instruction: Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table. | Scene: A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table. | Success: All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "tags": {"task_name": "Dump Trash from Dustpan into Trash Bin", "task_instruction": "Pick up the dustpan with the left hand, dump the trash from the dustpan into the trash bin, and then place the dustpan back on the table.", "scene_description": "A dustpan containing trash and a trash bin are placed near the table. The robot needs to lift the dustpan, pour the trash into the trash bin, and place the dustpan back on the table.", "success_criteria": "All trash in the dustpan is dumped into the trash bin, and the dustpan is placed back stably on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 182, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 345, "id": "Wo7UrRtku7VYU2FY421-C"}, {"label": "subtasks", "start_step": 183, "end_step": 286, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 287, "end_step": 330, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 346, "end_step": 493, "id": "JLTWD76AvC8zIl7G62zki"}, {"label": "error", "start_step": 183, "end_step": 345, "id": "error-001", "note": "The dustpan is never lifted over the bin; the trash is not dumped."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 182, "id": "subtask-001", "text": "Pick up the dustpan with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 183, "end_step": 286, "id": "subtask-002", "text": "Tip the dustpan and dump the trash into the trash bin with the left hand. | Skill: tip", "task_skill": "tip", "atomic_action": []}, {"label": "subtasks", "start_step": 287, "end_step": 330, "id": "subtask-003", "text": "Place the dustpan back on the table with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 43, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 824, "id": "6-Rj9XHzPSOVFJfd_bxZd"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 825, "end_step": 973, "id": "AjqgcMgLOyBmguYK08NG_"}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 24}
-{"source_uid": "32094daad41fe246", "num_frames": 1193, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1044, "id": "olkOQeZjcf3lsOK_G2pcW"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 1045, "end_step": 1192, "id": "AvLdLCNvDEdKoQkSlOrY2"}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 25}
-{"source_uid": "2b052d86a041d762", "num_frames": 1446, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1296, "id": "SPUfxiYN0JAFPYZBmIqNU"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1297, "end_step": 1445, "id": "Xq8VSgvIgRSbTl2qWWRWr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 26}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 107, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 824, "id": "6-Rj9XHzPSOVFJfd_bxZd"}, {"label": "subtasks", "start_step": 108, "end_step": 241, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 242, "end_step": 271, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 272, "end_step": 322, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 323, "end_step": 384, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 402, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 611, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 612, "end_step": 659, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 660, "end_step": 692, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 825, "end_step": 973, "id": "AjqgcMgLOyBmguYK08NG_"}, {"label": "subtasks", "start_step": 693, "end_step": 740, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 784, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 785, "end_step": 814, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 815, "end_step": 824, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "error", "start_step": 785, "end_step": 824, "id": "error-001", "note": "The top and bottom flaps are not closed."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 107, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 108, "end_step": 241, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 242, "end_step": 271, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 272, "end_step": 322, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 323, "end_step": 384, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 402, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 611, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 612, "end_step": 659, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 660, "end_step": 692, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 693, "end_step": 740, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 784, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 785, "end_step": 814, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 815, "end_step": 824, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 24, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
+{"source_uid": "32094daad41fe246", "num_frames": 1193, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 187, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1044, "id": "olkOQeZjcf3lsOK_G2pcW"}, {"label": "subtasks", "start_step": 188, "end_step": 318, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 339, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 340, "end_step": 388, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 389, "end_step": 459, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 549, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 550, "end_step": 764, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 765, "end_step": 803, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 804, "end_step": 821, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 822, "end_step": 880, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 920, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 1045, "end_step": 1192, "id": "AvLdLCNvDEdKoQkSlOrY2"}, {"label": "subtasks", "start_step": 921, "end_step": 1017, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1018, "end_step": 1044, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 187, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 188, "end_step": 318, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 339, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 340, "end_step": 388, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 389, "end_step": 459, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 549, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 550, "end_step": 764, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 765, "end_step": 803, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 804, "end_step": 821, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 822, "end_step": 880, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 920, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 921, "end_step": 1017, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1018, "end_step": 1044, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 25, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
+{"source_uid": "2b052d86a041d762", "num_frames": 1446, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 243, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1296, "id": "SPUfxiYN0JAFPYZBmIqNU"}, {"label": "subtasks", "start_step": 244, "end_step": 575, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 576, "end_step": 685, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 686, "end_step": 765, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 835, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 836, "end_step": 895, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 896, "end_step": 1069, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1070, "end_step": 1108, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1109, "end_step": 1125, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1152, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1153, "end_step": 1188, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1272, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1296, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1297, "end_step": 1445, "id": "Xq8VSgvIgRSbTl2qWWRWr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 243, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 244, "end_step": 575, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 576, "end_step": 685, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 686, "end_step": 765, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 835, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 836, "end_step": 895, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 896, "end_step": 1069, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1070, "end_step": 1108, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1109, "end_step": 1125, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1152, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1153, "end_step": 1188, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1272, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1296, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 26, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "2f0a6ab92df3ae2e", "num_frames": 1910, "episode_id": "POC22027_2026_05_14_23_25_16_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_25_16_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_25_16_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_25_16_train/train_0.3.0@2026_05_14_23_25_16.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 270, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 738, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 1089, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1278, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1279, "end_step": 1698, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1699, "end_step": 1749, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 270, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 738, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 1089, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1278, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1279, "end_step": 1698, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1699, "end_step": 1749, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 26, "v40_language_source": "previous_published_lerobot", "episode_index": 27}
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both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 627, "end_step": 674, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 675, "end_step": 863, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 864, "end_step": 968, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 969, "end_step": 1091, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1092, "end_step": 1292, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1293, "end_step": 1342, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1343, "end_step": 1369, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1370, "end_step": 1396, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1397, "end_step": 1432, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1433, "end_step": 1533, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1534, "end_step": 1562, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 29, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "7c8e5e09b4241e62", "num_frames": 1739, "episode_id": "POC22027_2026_05_14_23_28_26_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_28_26_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_28_26_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_28_26_train/train_0.3.0@2026_05_14_23_28_26.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 234, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 600, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 1050, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1051, "end_step": 1242, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1539, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1540, "end_step": 1608, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 234, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 600, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 1050, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1051, "end_step": 1242, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1539, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1540, "end_step": 1608, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 28, "v40_language_source": "previous_published_lerobot", "episode_index": 30}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1382, "end_step": 1529, "id": "56IFch8_zcXeMT09R1cqr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 31}
+{"source_uid": "9fc70de52e7630f1", "num_frames": 1530, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. 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The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 220, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1381, "id": "S3r39pe1iI2lZ8YNje1Kq"}, {"label": "subtasks", "start_step": 221, "end_step": 552, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 678, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 779, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 780, "end_step": 872, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 873, "end_step": 957, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 958, "end_step": 1145, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1146, "end_step": 1184, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1185, "end_step": 1201, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1202, "end_step": 1228, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1229, "end_step": 1264, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1265, "end_step": 1357, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1358, "end_step": 1381, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1382, "end_step": 1529, "id": "56IFch8_zcXeMT09R1cqr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 220, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 221, "end_step": 552, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 678, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 779, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 780, "end_step": 872, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 873, "end_step": 957, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 958, "end_step": 1145, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1146, "end_step": 1184, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1185, "end_step": 1201, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1202, "end_step": 1228, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1229, "end_step": 1264, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1265, "end_step": 1357, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1358, "end_step": 1381, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 31, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "3ff48b35bbf75763", "num_frames": 1278, "episode_id": "POC22027_2026_05_14_23_30_25_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_30_25_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_30_25_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_30_25_train/train_0.3.0@2026_05_14_23_30_25.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 477, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 744, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 924, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1071, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 477, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 744, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 924, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1071, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 29, "v40_language_source": "previous_published_lerobot", "episode_index": 32}
 {"source_uid": "37d09d7adb8a7d3f", "num_frames": 1545, "episode_id": "POC22027_2026_05_14_23_32_32_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_32_32_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_32_32_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_32_32_train/train_0.3.0@2026_05_14_23_32_32.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 558, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 933, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 1101, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1335, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1336, "end_step": 1407, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 558, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 933, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 1101, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1335, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1336, "end_step": 1407, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 31, "v40_language_source": "previous_published_lerobot", "episode_index": 33}
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"atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": 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"atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 34}
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"atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1287, "end_step": 1435, "id": 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"atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 35}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1226, "id": "e5OGQPgT1hvc8_9AGgACI"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1227, "end_step": 1375, "id": "6_Op4ejcqZpj8rgYgVLPE"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 36}
+{"source_uid": "16924308b81d36bb", "num_frames": 1400, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1251, "id": "TEhchxTymMJ1RfA7zOtS2"}, {"label": "subtasks", "start_step": 184, "end_step": 382, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 383, "end_step": 459, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 584, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 585, "end_step": 685, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 686, "end_step": 753, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 946, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 947, "end_step": 997, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 998, "end_step": 1025, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1026, "end_step": 1070, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1071, "end_step": 1106, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1107, "end_step": 1224, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1251, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1252, "end_step": 1399, "id": "9gXOYLsMvUtd8eFn1oUwm"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 382, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 383, "end_step": 459, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 584, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 585, "end_step": 685, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 686, "end_step": 753, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 946, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 947, "end_step": 997, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 998, "end_step": 1025, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1026, "end_step": 1070, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1071, "end_step": 1106, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1107, "end_step": 1224, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1251, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 34, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
+{"source_uid": "6d6ee8c51ae4f4f2", "num_frames": 1436, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 209, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1286, "id": "T7qMUHtJG36ua7nyRdL4p"}, {"label": "subtasks", "start_step": 210, "end_step": 446, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 513, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 618, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 711, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 792, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 978, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 979, "end_step": 1026, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1059, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1060, "end_step": 1107, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1149, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1259, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1260, "end_step": 1286, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1287, "end_step": 1435, "id": "f86rNYwhB0okHWJs_6pc7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 209, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 210, "end_step": 446, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 513, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 618, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 711, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 792, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 978, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 979, "end_step": 1026, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1059, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1060, "end_step": 1107, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1149, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1259, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1260, "end_step": 1286, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 35, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
+{"source_uid": "513d5713afa028bb", "num_frames": 1376, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1226, "id": "e5OGQPgT1hvc8_9AGgACI"}, {"label": "subtasks", "start_step": 199, "end_step": 394, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 395, "end_step": 454, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 455, "end_step": 508, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 509, "end_step": 597, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 672, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 880, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 928, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 929, "end_step": 976, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 977, "end_step": 1029, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1190, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1191, "end_step": 1226, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1227, "end_step": 1375, "id": "6_Op4ejcqZpj8rgYgVLPE"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 394, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 395, "end_step": 454, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 455, "end_step": 508, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 509, "end_step": 597, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 672, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 880, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 928, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 929, "end_step": 976, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 977, "end_step": 1029, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1190, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1191, "end_step": 1226, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 36, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "f814c3ccc5362ac5", "num_frames": 1716, "episode_id": "POC22027_2026_05_14_23_36_01_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_36_01_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_36_01_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_36_01_train/train_0.3.0@2026_05_14_23_36_01.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 585, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 1128, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1311, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1312, "end_step": 1554, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1555, "end_step": 1563, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 585, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 1128, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1311, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1312, "end_step": 1554, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1555, "end_step": 1563, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 32, "v40_language_source": "previous_published_lerobot", "episode_index": 37}
 {"source_uid": "b40574c2b094aac0", "num_frames": 1392, "episode_id": "POC22027_2026_05_14_23_37_00_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_37_00_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_37_00_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_37_00_train/train_0.3.0@2026_05_14_23_37_00.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 437, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 438, "end_step": 818, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 819, "end_step": 994, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 995, "end_step": 1228, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1229, "end_step": 1242, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 437, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 438, "end_step": 818, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 819, "end_step": 994, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 995, "end_step": 1228, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1229, "end_step": 1242, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 33, "v40_language_source": "previous_published_lerobot", "episode_index": 38}
 {"source_uid": "0835740ef914a123", "num_frames": 1456, "episode_id": "POC22027_2026_05_14_23_37_53_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_37_53_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_37_53_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_37_53_train/train_0.3.0@2026_05_14_23_37_53.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 182, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 183, "end_step": 512, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 513, "end_step": 878, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 879, "end_step": 1061, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1062, "end_step": 1283, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1284, "end_step": 1298, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 182, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 183, "end_step": 512, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 513, "end_step": 878, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 879, "end_step": 1061, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1062, "end_step": 1283, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1284, "end_step": 1298, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 34, "v40_language_source": "previous_published_lerobot", "episode_index": 39}
@@ -42,7 +42,7 @@
 {"source_uid": "cd87ffc539676293", "num_frames": 1669, "episode_id": "POC22027_2026_05_14_23_39_34_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_39_34_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_39_34_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_39_34_train/train_0.3.0@2026_05_14_23_39_34.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 570, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 1026, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1194, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1464, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1465, "end_step": 1512, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 570, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 1026, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1194, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1464, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1465, "end_step": 1512, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 36, "v40_language_source": "previous_published_lerobot", "episode_index": 41}
 {"source_uid": "f3959e8ced3e9558", "num_frames": 1725, "episode_id": "POC22027_2026_05_14_23_40_33_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_40_33_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_40_33_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_40_33_train/train_0.3.0@2026_05_14_23_40_33.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 534, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 993, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 994, "end_step": 1158, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1159, "end_step": 1548, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1549, "end_step": 1572, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 534, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 993, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 994, "end_step": 1158, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1159, "end_step": 1548, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1549, "end_step": 1572, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 37, "v40_language_source": "previous_published_lerobot", "episode_index": 42}
 {"source_uid": "035a5a9664a1ab47", "num_frames": 1698, "episode_id": "POC22027_2026_05_14_23_41_34_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_41_34_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_41_34_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_41_34_train/train_0.3.0@2026_05_14_23_41_34.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 519, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 520, "end_step": 936, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1221, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1536, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1537, "end_step": 1542, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 519, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 520, "end_step": 936, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1221, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1536, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1537, "end_step": 1542, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 38, "v40_language_source": "previous_published_lerobot", "episode_index": 43}
-{"source_uid": "c4b570d3cd7f2690", "num_frames": 1608, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1458, "id": "ohVeCQVWqbWr2mUN5Kzeb"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1459, "end_step": 1607, "id": "5HA4TS-9SV37XWsGwxIoP"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 44}
+{"source_uid": "c4b570d3cd7f2690", "num_frames": 1608, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 612, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 788, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 789, "end_step": 886, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 887, "end_step": 1066, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1067, "end_step": 1132, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1133, "end_step": 1169, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1170, "end_step": 1211, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1212, "end_step": 1281, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1282, "end_step": 1414, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1415, "end_step": 1458, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1459, "end_step": 1607, "id": "5HA4TS-9SV37XWsGwxIoP"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 203, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 204, "end_step": 448, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 449, "end_step": 540, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 612, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 788, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 789, "end_step": 886, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 887, "end_step": 1066, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1067, "end_step": 1132, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1133, "end_step": 1169, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1170, "end_step": 1211, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1212, "end_step": 1281, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1282, "end_step": 1414, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1415, "end_step": 1458, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 44, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "a1f5ee1ee5934c04", "num_frames": 1688, "episode_id": "POC22027_2026_05_14_23_44_33_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_44_33_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_44_33_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_44_33_train/train_0.3.0@2026_05_14_23_44_33.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 693, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 1119, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1120, "end_step": 1299, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1300, "end_step": 1509, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1510, "end_step": 1527, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 693, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 1119, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1120, "end_step": 1299, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1300, "end_step": 1509, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1510, "end_step": 1527, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 40, "v40_language_source": "previous_published_lerobot", "episode_index": 45}
 {"source_uid": "9a72b277557ac4d5", "num_frames": 1587, "episode_id": "POC22027_2026_05_14_23_45_30_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_45_30_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_45_30_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_45_30_train/train_0.3.0@2026_05_14_23_45_30.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 609, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 610, "end_step": 999, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1194, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1398, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1461, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 609, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 610, "end_step": 999, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1194, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1398, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1461, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 41, "v40_language_source": "previous_published_lerobot", "episode_index": 46}
 {"source_uid": "6e6d0d85d773c7af", "num_frames": 1355, "episode_id": "POC22027_2026_05_14_23_46_27_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_46_27_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_46_27_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_46_27_train/train_0.3.0@2026_05_14_23_46_27.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 579, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 816, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 987, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 988, "end_step": 1188, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1197, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 579, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 816, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 987, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 988, "end_step": 1188, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1197, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 42, "v40_language_source": "previous_published_lerobot", "episode_index": 47}
@@ -50,10 +50,10 @@
 {"source_uid": "c2767d5e4debc2ed", "num_frames": 1289, "episode_id": "POC22027_2026_05_14_23_50_05_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_50_05_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_50_05_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_50_05_train/train_0.3.0@2026_05_14_23_50_05.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 465, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 466, "end_step": 723, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 724, "end_step": 879, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 880, "end_step": 1119, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1120, "end_step": 1137, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 465, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 466, "end_step": 723, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 724, "end_step": 879, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 880, "end_step": 1119, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1120, "end_step": 1137, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 45, "v40_language_source": "previous_published_lerobot", "episode_index": 49}
 {"source_uid": "a000fe79571c5a25", "num_frames": 1599, "episode_id": "POC22027_2026_05_14_23_51_23_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_51_23_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_51_23_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_51_23_train/train_0.3.0@2026_05_14_23_51_23.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 501, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 502, "end_step": 921, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 922, "end_step": 1107, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1419, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1420, "end_step": 1437, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 501, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 502, "end_step": 921, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 922, "end_step": 1107, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1419, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1420, "end_step": 1437, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 46, "v40_language_source": "previous_published_lerobot", "episode_index": 50}
 {"source_uid": "c1f2a8a35d02d54d", "num_frames": 1499, "episode_id": "POC22027_2026_05_14_23_52_19_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_52_19_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_52_19_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_52_19_train/train_0.3.0@2026_05_14_23_52_19.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 396, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 738, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 1074, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1075, "end_step": 1305, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1359, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 396, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 738, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 1074, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1075, "end_step": 1305, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1359, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 47, "v40_language_source": "previous_published_lerobot", "episode_index": 51}
-{"source_uid": "628697f22b454f4b", "num_frames": 1265, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1116, "id": "fC3UE2nnJ2NBq2uNrJmRG"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 1117, "end_step": 1264, "id": "NvUs4hdRGXi76YFgu4PuY"}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 52}
+{"source_uid": "628697f22b454f4b", "num_frames": 1265, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. 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The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 191, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1116, "id": "fC3UE2nnJ2NBq2uNrJmRG"}, {"label": "subtasks", "start_step": 192, "end_step": 328, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 329, "end_step": 369, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 423, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 424, "end_step": 503, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 504, "end_step": 578, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 579, "end_step": 856, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 857, "end_step": 906, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 923, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 924, "end_step": 964, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 965, "end_step": 1000, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1001, "end_step": 1090, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 1117, "end_step": 1264, "id": "NvUs4hdRGXi76YFgu4PuY"}, {"label": "subtasks", "start_step": 1091, "end_step": 1116, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 191, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 192, "end_step": 328, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 329, "end_step": 369, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 423, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 424, "end_step": 503, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 504, "end_step": 578, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 579, "end_step": 856, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 857, "end_step": 906, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 923, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 924, "end_step": 964, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 965, "end_step": 1000, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1001, "end_step": 1090, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1091, "end_step": 1116, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 52, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "94c41a4709ba136e", "num_frames": 1270, "episode_id": "POC22027_2026_05_14_23_55_04_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_55_04_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_55_04_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_55_04_train/train_0.3.0@2026_05_14_23_55_04.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 366, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 702, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 855, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 856, "end_step": 1095, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1104, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 366, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 702, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 855, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 856, "end_step": 1095, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1104, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 49, "v40_language_source": "previous_published_lerobot", "episode_index": 53}
 {"source_uid": "c8e763e849bec04f", "num_frames": 1514, "episode_id": "POC22027_2026_05_15_00_19_58_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_19_58_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_19_58_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_19_58_train/train_0.3.0@2026_05_15_00_19_58.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 468, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 804, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 1040, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1041, "end_step": 1344, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1345, "end_step": 1365, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 468, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 804, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 1040, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1041, "end_step": 1344, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1345, "end_step": 1365, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 50, "v40_language_source": "previous_published_lerobot", "episode_index": 54}
-{"source_uid": "baf3e138543fb07f", "num_frames": 1635, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1486, "end_step": 1634, "id": "vWkuCsWl8BX596m_-8Nwu"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 55}
+{"source_uid": "baf3e138543fb07f", "num_frames": 1635, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 202, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1485, "id": "B4HVU3Q3_LUwOTw9HTGhO"}, {"label": "subtasks", "start_step": 203, "end_step": 503, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 504, "end_step": 614, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 615, "end_step": 717, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 808, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 809, "end_step": 894, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 1094, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1095, "end_step": 1208, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1209, "end_step": 1242, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1285, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1286, "end_step": 1332, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1453, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1454, "end_step": 1485, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1486, "end_step": 1634, "id": "vWkuCsWl8BX596m_-8Nwu"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 202, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 203, "end_step": 503, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 504, "end_step": 614, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 615, "end_step": 717, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 808, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 809, "end_step": 894, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 1094, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1095, "end_step": 1208, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1209, "end_step": 1242, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1285, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1286, "end_step": 1332, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1453, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1454, "end_step": 1485, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 55, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "b38f733f47cd3f6e", "num_frames": 1384, "episode_id": "POC22027_2026_05_15_00_21_50_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_21_50_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_21_50_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_21_50_train/train_0.3.0@2026_05_15_00_21_50.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 426, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 720, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 926, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 927, "end_step": 1173, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1174, "end_step": 1218, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 426, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 720, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 926, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 927, "end_step": 1173, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1174, "end_step": 1218, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 51, "v40_language_source": "previous_published_lerobot", "episode_index": 56}
 {"source_uid": "374e161b060fe9a4", "num_frames": 1701, "episode_id": "POC22027_2026_05_15_00_22_38_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_22_38_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_22_38_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_22_38_train/train_0.3.0@2026_05_15_00_22_38.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 693, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 993, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 994, "end_step": 1194, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1509, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1510, "end_step": 1530, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 693, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 993, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 994, "end_step": 1194, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1509, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1510, "end_step": 1530, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 52, "v40_language_source": "previous_published_lerobot", "episode_index": 57}
 {"source_uid": "9f434342aed580e3", "num_frames": 1436, "episode_id": "POC22027_2026_05_15_00_23_37_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_23_37_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_23_37_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_23_37_train/train_0.3.0@2026_05_15_00_23_37.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 507, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 762, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 930, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 1248, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1249, "end_step": 1290, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 507, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 762, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 930, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 1248, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1249, "end_step": 1290, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 53, "v40_language_source": "previous_published_lerobot", "episode_index": 58}
diff --git a/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotations.jsonl b/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotations.jsonl
index 681e9dd65dc66d3ba44ace08f01549160f86fd83..72b21e55639abe9fd28dbbbe14ce9e5f5b6b792c 100644
--- a/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotations.jsonl
+++ b/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotations.jsonl
@@ -22,19 +22,19 @@
 {"source_uid": "4862611958822659", "num_frames": 1654, "episode_id": "POC22027_2026_05_14_23_18_46_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_18_46_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_18_46_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_18_46_train/train_0.3.0@2026_05_14_23_18_46.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 432, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 915, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1197, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1198, "end_step": 1437, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1438, "end_step": 1530, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 432, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 915, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1197, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1198, "end_step": 1437, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1438, "end_step": 1530, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 22, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
 {"source_uid": "8340e3118868b11b", "num_frames": 1606, "episode_id": "POC22027_2026_05_14_23_20_43_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_20_43_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_20_43_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_20_43_train/train_0.3.0@2026_05_14_23_20_43.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 435, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 436, "end_step": 927, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 928, "end_step": 1164, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1165, "end_step": 1410, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1411, "end_step": 1476, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 435, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 436, "end_step": 927, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 928, "end_step": 1164, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1165, "end_step": 1410, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1411, "end_step": 1476, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 24, "v40_language_source": "previous_published_lerobot", "episode_index": 22}
 {"source_uid": "7ef241addcba2b84", "num_frames": 1908, "episode_id": "POC22027_2026_05_14_23_21_42_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_21_42_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_21_42_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_21_42_train/train_0.3.0@2026_05_14_23_21_42.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 735, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 1218, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1521, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1522, "end_step": 1734, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1735, "end_step": 1767, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 735, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 1218, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1521, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1522, "end_step": 1734, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1735, "end_step": 1767, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 25, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
-{"source_uid": "9ca786ac7556f04e", "num_frames": 974, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 824, "id": "6-Rj9XHzPSOVFJfd_bxZd"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 825, "end_step": 973, "id": "AjqgcMgLOyBmguYK08NG_"}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 24}
-{"source_uid": "32094daad41fe246", "num_frames": 1193, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1044, "id": "olkOQeZjcf3lsOK_G2pcW"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 1045, "end_step": 1192, "id": "AvLdLCNvDEdKoQkSlOrY2"}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 25}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1296, "id": "SPUfxiYN0JAFPYZBmIqNU"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1297, "end_step": 1445, "id": "Xq8VSgvIgRSbTl2qWWRWr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 26}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 107, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 824, "id": "6-Rj9XHzPSOVFJfd_bxZd"}, {"label": "subtasks", "start_step": 108, "end_step": 241, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 242, "end_step": 271, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 272, "end_step": 322, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 323, "end_step": 384, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 402, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 611, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 612, "end_step": 659, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 660, "end_step": 692, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 825, "end_step": 973, "id": "AjqgcMgLOyBmguYK08NG_"}, {"label": "subtasks", "start_step": 693, "end_step": 740, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 784, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 785, "end_step": 814, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 815, "end_step": 824, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "error", "start_step": 785, "end_step": 824, "id": "error-001", "note": "The top and bottom flaps are not closed."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 107, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 108, "end_step": 241, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 242, "end_step": 271, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 272, "end_step": 322, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 323, "end_step": 384, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 402, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 611, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 612, "end_step": 659, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 660, "end_step": 692, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 693, "end_step": 740, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 784, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 785, "end_step": 814, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 815, "end_step": 824, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 24, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 187, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1044, "id": "olkOQeZjcf3lsOK_G2pcW"}, {"label": "subtasks", "start_step": 188, "end_step": 318, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 339, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 340, "end_step": 388, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 389, "end_step": 459, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 549, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 550, "end_step": 764, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 765, "end_step": 803, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 804, "end_step": 821, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 822, "end_step": 880, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 920, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 1045, "end_step": 1192, "id": "AvLdLCNvDEdKoQkSlOrY2"}, {"label": "subtasks", "start_step": 921, "end_step": 1017, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1018, "end_step": 1044, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 187, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 188, "end_step": 318, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 339, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 340, "end_step": 388, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 389, "end_step": 459, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 549, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 550, "end_step": 764, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 765, "end_step": 803, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 804, "end_step": 821, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 822, "end_step": 880, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 920, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 921, "end_step": 1017, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1018, "end_step": 1044, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 25, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 243, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1296, "id": "SPUfxiYN0JAFPYZBmIqNU"}, {"label": "subtasks", "start_step": 244, "end_step": 575, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 576, "end_step": 685, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 686, "end_step": 765, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 835, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 836, "end_step": 895, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 896, "end_step": 1069, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1070, "end_step": 1108, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1109, "end_step": 1125, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1152, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1153, "end_step": 1188, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1272, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1296, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1297, "end_step": 1445, "id": "Xq8VSgvIgRSbTl2qWWRWr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 243, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 244, "end_step": 575, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 576, "end_step": 685, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 686, "end_step": 765, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 835, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 836, "end_step": 895, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 896, "end_step": 1069, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1070, "end_step": 1108, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1109, "end_step": 1125, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1152, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1153, "end_step": 1188, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1272, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1296, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 26, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "2f0a6ab92df3ae2e", "num_frames": 1910, "episode_id": "POC22027_2026_05_14_23_25_16_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_25_16_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_25_16_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_25_16_train/train_0.3.0@2026_05_14_23_25_16.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 270, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 738, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 1089, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1278, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1279, "end_step": 1698, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1699, "end_step": 1749, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 270, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 738, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 1089, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1278, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1279, "end_step": 1698, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1699, "end_step": 1749, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 26, "v40_language_source": "previous_published_lerobot", "episode_index": 27}
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-{"source_uid": "52db1b6008968fbd", "num_frames": 1711, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "goal", "start_step": 0, "end_step": 174, "id": "9a6a1f9f-aefc-496b-91fc-ed0ac4dd6a9e"}, {"label": "valid", "start_step": 0, "end_step": 1562, "id": "Gu3BnZ1C8BPXTRzIRwtLV"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "goal", "start_step": 175, "end_step": 819, "id": "f740824b-bad3-43cb-9676-4029653165c4"}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 820, "end_step": 1134, "id": "f43a0f63-a3b7-44ce-8eb2-eb2e29bf9c3e"}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 1135, "end_step": 1290, "id": "6f7379af-8363-4ed9-935a-f1f0c822381c"}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "goal", "start_step": 1291, "end_step": 1554, "id": "dac52921-cfd5-418f-ac9d-a19640477fc7"}, {"label": "goal", "start_step": 1555, "end_step": 1575, "id": "4bbfdf8e-e58c-4748-b6eb-03d3437c70b4"}, {"label": "home", "start_step": 1563, "end_step": 1710, "id": "r2K9obeGYtvdPvoTEsWPN"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 29}
+{"source_uid": "52db1b6008968fbd", "num_frames": 1711, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"f740824b-bad3-43cb-9676-4029653165c4"}, {"label": "subtasks", "start_step": 627, "end_step": 674, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 675, "end_step": 863, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 864, "end_step": 968, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 969, "end_step": 1091, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1092, "end_step": 1292, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1293, "end_step": 1342, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1343, "end_step": 1369, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 820, "end_step": 1134, "id": "f43a0f63-a3b7-44ce-8eb2-eb2e29bf9c3e"}, {"label": "subtasks", "start_step": 1370, "end_step": 1396, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1397, "end_step": 1432, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1433, "end_step": 1533, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 1135, "end_step": 1290, "id": "6f7379af-8363-4ed9-935a-f1f0c822381c"}, {"label": "subtasks", "start_step": 1534, "end_step": 1562, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "goal", "start_step": 1291, "end_step": 1554, "id": "dac52921-cfd5-418f-ac9d-a19640477fc7"}, {"label": "goal", "start_step": 1555, "end_step": 1575, "id": "4bbfdf8e-e58c-4748-b6eb-03d3437c70b4"}, {"label": "home", "start_step": 1563, "end_step": 1710, "id": "r2K9obeGYtvdPvoTEsWPN"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 224, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 626, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 627, "end_step": 674, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 675, "end_step": 863, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 864, "end_step": 968, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 969, "end_step": 1091, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1092, "end_step": 1292, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1293, "end_step": 1342, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1343, "end_step": 1369, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1370, "end_step": 1396, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1397, "end_step": 1432, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1433, "end_step": 1533, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1534, "end_step": 1562, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 29, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "7c8e5e09b4241e62", "num_frames": 1739, "episode_id": "POC22027_2026_05_14_23_28_26_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_28_26_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_28_26_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_28_26_train/train_0.3.0@2026_05_14_23_28_26.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 234, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 600, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 1050, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1051, "end_step": 1242, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1539, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1540, "end_step": 1608, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 234, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 600, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 1050, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1051, "end_step": 1242, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1539, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1540, "end_step": 1608, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 28, "v40_language_source": "previous_published_lerobot", "episode_index": 30}
-{"source_uid": "9fc70de52e7630f1", "num_frames": 1530, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1381, "id": "S3r39pe1iI2lZ8YNje1Kq"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1382, "end_step": 1529, "id": "56IFch8_zcXeMT09R1cqr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 31}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 779, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 780, "end_step": 872, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 873, "end_step": 957, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 958, "end_step": 1145, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1146, "end_step": 1184, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1185, "end_step": 1201, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1202, "end_step": 1228, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1229, "end_step": 1264, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1265, "end_step": 1357, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1358, "end_step": 1381, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1382, "end_step": 1529, "id": "56IFch8_zcXeMT09R1cqr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 220, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 221, "end_step": 552, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 678, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 779, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 780, "end_step": 872, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 873, "end_step": 957, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 958, "end_step": 1145, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1146, "end_step": 1184, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1185, "end_step": 1201, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1202, "end_step": 1228, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1229, "end_step": 1264, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1265, "end_step": 1357, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1358, "end_step": 1381, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 31, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "3ff48b35bbf75763", "num_frames": 1278, "episode_id": "POC22027_2026_05_14_23_30_25_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_30_25_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_30_25_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_30_25_train/train_0.3.0@2026_05_14_23_30_25.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 477, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 744, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 924, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1071, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 477, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 744, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 924, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1071, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 29, "v40_language_source": "previous_published_lerobot", "episode_index": 32}
 {"source_uid": "37d09d7adb8a7d3f", "num_frames": 1545, "episode_id": "POC22027_2026_05_14_23_32_32_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_32_32_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_32_32_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_32_32_train/train_0.3.0@2026_05_14_23_32_32.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 558, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 933, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 1101, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1335, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1336, "end_step": 1407, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 558, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 933, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 1101, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1335, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1336, "end_step": 1407, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 31, "v40_language_source": "previous_published_lerobot", "episode_index": 33}
-{"source_uid": "16924308b81d36bb", "num_frames": 1400, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1251, "id": "TEhchxTymMJ1RfA7zOtS2"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1252, "end_step": 1399, "id": "9gXOYLsMvUtd8eFn1oUwm"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 34}
-{"source_uid": "6d6ee8c51ae4f4f2", "num_frames": 1436, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1286, "id": "T7qMUHtJG36ua7nyRdL4p"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1287, "end_step": 1435, "id": "f86rNYwhB0okHWJs_6pc7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 35}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1226, "id": "e5OGQPgT1hvc8_9AGgACI"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1227, "end_step": 1375, "id": "6_Op4ejcqZpj8rgYgVLPE"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 36}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 584, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 585, "end_step": 685, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 686, "end_step": 753, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 946, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 947, "end_step": 997, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 998, "end_step": 1025, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1026, "end_step": 1070, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1071, "end_step": 1106, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1107, "end_step": 1224, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1251, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1252, "end_step": 1399, "id": "9gXOYLsMvUtd8eFn1oUwm"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 382, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 383, "end_step": 459, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 584, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 585, "end_step": 685, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 686, "end_step": 753, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 946, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 947, "end_step": 997, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 998, "end_step": 1025, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1026, "end_step": 1070, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1071, "end_step": 1106, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1107, "end_step": 1224, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1251, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 34, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
+{"source_uid": "6d6ee8c51ae4f4f2", "num_frames": 1436, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 209, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1286, "id": "T7qMUHtJG36ua7nyRdL4p"}, {"label": "subtasks", "start_step": 210, "end_step": 446, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 513, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 618, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 711, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 792, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 978, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 979, "end_step": 1026, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1059, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1060, "end_step": 1107, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1149, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1259, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1260, "end_step": 1286, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1287, "end_step": 1435, "id": "f86rNYwhB0okHWJs_6pc7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 209, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 210, "end_step": 446, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 513, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 618, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 711, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 792, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 978, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 979, "end_step": 1026, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1059, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1060, "end_step": 1107, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1149, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1259, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1260, "end_step": 1286, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 35, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
+{"source_uid": "513d5713afa028bb", "num_frames": 1376, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1226, "id": "e5OGQPgT1hvc8_9AGgACI"}, {"label": "subtasks", "start_step": 199, "end_step": 394, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 395, "end_step": 454, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 455, "end_step": 508, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 509, "end_step": 597, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 672, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 880, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 928, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 929, "end_step": 976, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 977, "end_step": 1029, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1190, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1191, "end_step": 1226, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1227, "end_step": 1375, "id": "6_Op4ejcqZpj8rgYgVLPE"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 394, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 395, "end_step": 454, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 455, "end_step": 508, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 509, "end_step": 597, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 672, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 880, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 928, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 929, "end_step": 976, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 977, "end_step": 1029, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1190, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1191, "end_step": 1226, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 36, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "f814c3ccc5362ac5", "num_frames": 1716, "episode_id": "POC22027_2026_05_14_23_36_01_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_36_01_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_36_01_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_36_01_train/train_0.3.0@2026_05_14_23_36_01.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 585, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 1128, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1311, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1312, "end_step": 1554, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1555, "end_step": 1563, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 585, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 1128, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1311, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1312, "end_step": 1554, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1555, "end_step": 1563, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 32, "v40_language_source": "previous_published_lerobot", "episode_index": 37}
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@@ -42,7 +42,7 @@
 {"source_uid": "cd87ffc539676293", "num_frames": 1669, "episode_id": "POC22027_2026_05_14_23_39_34_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_39_34_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_39_34_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_39_34_train/train_0.3.0@2026_05_14_23_39_34.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 570, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 1026, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1194, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1464, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1465, "end_step": 1512, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 570, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 1026, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1194, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1464, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1465, "end_step": 1512, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 36, "v40_language_source": "previous_published_lerobot", "episode_index": 41}
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 {"source_uid": "035a5a9664a1ab47", "num_frames": 1698, "episode_id": "POC22027_2026_05_14_23_41_34_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_41_34_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_41_34_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_41_34_train/train_0.3.0@2026_05_14_23_41_34.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 519, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 520, "end_step": 936, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1221, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1536, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1537, "end_step": 1542, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 519, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 520, "end_step": 936, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1221, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1536, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1537, "end_step": 1542, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 38, "v40_language_source": "previous_published_lerobot", "episode_index": 43}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1459, "end_step": 1607, "id": "5HA4TS-9SV37XWsGwxIoP"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 44}
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The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 203, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1458, "id": "ohVeCQVWqbWr2mUN5Kzeb"}, {"label": "subtasks", "start_step": 204, "end_step": 448, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 449, "end_step": 540, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 612, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 788, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 789, "end_step": 886, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 887, "end_step": 1066, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1067, "end_step": 1132, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1133, "end_step": 1169, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1170, "end_step": 1211, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1212, "end_step": 1281, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1282, "end_step": 1414, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1415, "end_step": 1458, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1459, "end_step": 1607, "id": "5HA4TS-9SV37XWsGwxIoP"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 203, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 204, "end_step": 448, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 449, "end_step": 540, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 612, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 788, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 789, "end_step": 886, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 887, "end_step": 1066, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1067, "end_step": 1132, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1133, "end_step": 1169, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1170, "end_step": 1211, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1212, "end_step": 1281, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1282, "end_step": 1414, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1415, "end_step": 1458, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 44, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "a1f5ee1ee5934c04", "num_frames": 1688, "episode_id": "POC22027_2026_05_14_23_44_33_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_44_33_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_44_33_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_44_33_train/train_0.3.0@2026_05_14_23_44_33.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 693, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 1119, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1120, "end_step": 1299, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1300, "end_step": 1509, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1510, "end_step": 1527, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 693, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 1119, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1120, "end_step": 1299, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1300, "end_step": 1509, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1510, "end_step": 1527, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 40, "v40_language_source": "previous_published_lerobot", "episode_index": 45}
 {"source_uid": "9a72b277557ac4d5", "num_frames": 1587, "episode_id": "POC22027_2026_05_14_23_45_30_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_45_30_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_45_30_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_45_30_train/train_0.3.0@2026_05_14_23_45_30.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 609, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 610, "end_step": 999, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1194, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1398, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1461, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 609, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 610, "end_step": 999, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1194, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1398, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1461, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 41, "v40_language_source": "previous_published_lerobot", "episode_index": 46}
 {"source_uid": "6e6d0d85d773c7af", "num_frames": 1355, "episode_id": "POC22027_2026_05_14_23_46_27_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_46_27_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_46_27_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_46_27_train/train_0.3.0@2026_05_14_23_46_27.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 579, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 816, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 987, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 988, "end_step": 1188, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1197, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 579, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 816, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 987, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 988, "end_step": 1188, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1197, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 42, "v40_language_source": "previous_published_lerobot", "episode_index": 47}
@@ -50,10 +50,10 @@
 {"source_uid": "c2767d5e4debc2ed", "num_frames": 1289, "episode_id": "POC22027_2026_05_14_23_50_05_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_50_05_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_50_05_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_50_05_train/train_0.3.0@2026_05_14_23_50_05.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 465, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 466, "end_step": 723, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 724, "end_step": 879, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 880, "end_step": 1119, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1120, "end_step": 1137, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 465, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 466, "end_step": 723, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 724, "end_step": 879, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 880, "end_step": 1119, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1120, "end_step": 1137, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 45, "v40_language_source": "previous_published_lerobot", "episode_index": 49}
 {"source_uid": "a000fe79571c5a25", "num_frames": 1599, "episode_id": "POC22027_2026_05_14_23_51_23_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_51_23_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_51_23_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_51_23_train/train_0.3.0@2026_05_14_23_51_23.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 501, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 502, "end_step": 921, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 922, "end_step": 1107, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1419, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1420, "end_step": 1437, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 501, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 502, "end_step": 921, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 922, "end_step": 1107, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1419, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1420, "end_step": 1437, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 46, "v40_language_source": "previous_published_lerobot", "episode_index": 50}
 {"source_uid": "c1f2a8a35d02d54d", "num_frames": 1499, "episode_id": "POC22027_2026_05_14_23_52_19_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_52_19_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_52_19_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_52_19_train/train_0.3.0@2026_05_14_23_52_19.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 396, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 738, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 1074, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1075, "end_step": 1305, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1359, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 396, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 738, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 1074, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1075, "end_step": 1305, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1359, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 47, "v40_language_source": "previous_published_lerobot", "episode_index": 51}
-{"source_uid": "628697f22b454f4b", "num_frames": 1265, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1116, "id": "fC3UE2nnJ2NBq2uNrJmRG"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 1117, "end_step": 1264, "id": "NvUs4hdRGXi76YFgu4PuY"}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 52}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 423, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 424, "end_step": 503, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 504, "end_step": 578, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 579, "end_step": 856, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 857, "end_step": 906, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 923, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 924, "end_step": 964, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 965, "end_step": 1000, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1001, "end_step": 1090, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 1117, "end_step": 1264, "id": "NvUs4hdRGXi76YFgu4PuY"}, {"label": "subtasks", "start_step": 1091, "end_step": 1116, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 191, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 192, "end_step": 328, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 329, "end_step": 369, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 423, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 424, "end_step": 503, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 504, "end_step": 578, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 579, "end_step": 856, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 857, "end_step": 906, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 923, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 924, "end_step": 964, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 965, "end_step": 1000, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1001, "end_step": 1090, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1091, "end_step": 1116, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 52, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "94c41a4709ba136e", "num_frames": 1270, "episode_id": "POC22027_2026_05_14_23_55_04_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_55_04_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_55_04_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_55_04_train/train_0.3.0@2026_05_14_23_55_04.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 366, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 702, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 855, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 856, "end_step": 1095, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1104, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 366, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 702, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 855, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 856, "end_step": 1095, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1104, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 49, "v40_language_source": "previous_published_lerobot", "episode_index": 53}
 {"source_uid": "c8e763e849bec04f", "num_frames": 1514, "episode_id": "POC22027_2026_05_15_00_19_58_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_19_58_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_19_58_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_19_58_train/train_0.3.0@2026_05_15_00_19_58.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 468, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 804, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 1040, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1041, "end_step": 1344, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1345, "end_step": 1365, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 468, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 804, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 1040, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1041, "end_step": 1344, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1345, "end_step": 1365, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 50, "v40_language_source": "previous_published_lerobot", "episode_index": 54}
-{"source_uid": "baf3e138543fb07f", "num_frames": 1635, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1485, "id": "B4HVU3Q3_LUwOTw9HTGhO"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1486, "end_step": 1634, "id": 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"atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 55}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 615, "end_step": 717, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 808, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 809, "end_step": 894, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 1094, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1095, "end_step": 1208, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1209, "end_step": 1242, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1285, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1286, "end_step": 1332, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1453, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1454, "end_step": 1485, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1486, "end_step": 1634, "id": "vWkuCsWl8BX596m_-8Nwu"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 202, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 203, "end_step": 503, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 504, "end_step": 614, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 615, "end_step": 717, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 808, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 809, "end_step": 894, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 1094, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1095, "end_step": 1208, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1209, "end_step": 1242, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1285, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1286, "end_step": 1332, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1453, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1454, "end_step": 1485, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 55, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "b38f733f47cd3f6e", "num_frames": 1384, "episode_id": "POC22027_2026_05_15_00_21_50_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_21_50_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_21_50_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_21_50_train/train_0.3.0@2026_05_15_00_21_50.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 426, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 720, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 926, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 927, "end_step": 1173, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1174, "end_step": 1218, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 426, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 720, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 926, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 927, "end_step": 1173, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1174, "end_step": 1218, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 51, "v40_language_source": "previous_published_lerobot", "episode_index": 56}
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diff --git a/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/episodes_stats.jsonl b/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/episodes_stats.jsonl
index 28326374ac0bd8787d578399a322ae585a31aa4e..35725e399d70d4b5966af01ce16002950f550fe8 100644
--- a/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/episodes_stats.jsonl
+++ b/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -22,19 +22,19 @@
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+++ b/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v3.0/meta/annotation_cache.jsonl
@@ -22,19 +22,19 @@
 {"source_uid": "4862611958822659", "num_frames": 1654, "episode_id": "POC22027_2026_05_14_23_18_46_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_18_46_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_18_46_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_18_46_train/train_0.3.0@2026_05_14_23_18_46.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 432, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 915, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1197, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1198, "end_step": 1437, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1438, "end_step": 1530, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 432, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 915, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1197, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1198, "end_step": 1437, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1438, "end_step": 1530, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 22, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
 {"source_uid": "8340e3118868b11b", "num_frames": 1606, "episode_id": "POC22027_2026_05_14_23_20_43_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_20_43_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_20_43_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_20_43_train/train_0.3.0@2026_05_14_23_20_43.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 435, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 436, "end_step": 927, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 928, "end_step": 1164, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1165, "end_step": 1410, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1411, "end_step": 1476, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 435, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 436, "end_step": 927, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 928, "end_step": 1164, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1165, "end_step": 1410, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1411, "end_step": 1476, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 24, "v40_language_source": "previous_published_lerobot", "episode_index": 22}
 {"source_uid": "7ef241addcba2b84", "num_frames": 1908, "episode_id": "POC22027_2026_05_14_23_21_42_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_21_42_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_21_42_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_21_42_train/train_0.3.0@2026_05_14_23_21_42.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 735, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 1218, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1521, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1522, "end_step": 1734, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1735, "end_step": 1767, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 735, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 1218, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1521, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1522, "end_step": 1734, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1735, "end_step": 1767, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 25, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
-{"source_uid": "9ca786ac7556f04e", "num_frames": 974, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 824, "id": "6-Rj9XHzPSOVFJfd_bxZd"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 825, "end_step": 973, "id": "AjqgcMgLOyBmguYK08NG_"}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 24}
-{"source_uid": "32094daad41fe246", "num_frames": 1193, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1044, "id": "olkOQeZjcf3lsOK_G2pcW"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 1045, "end_step": 1192, "id": "AvLdLCNvDEdKoQkSlOrY2"}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 25}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1296, "id": "SPUfxiYN0JAFPYZBmIqNU"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1297, "end_step": 1445, "id": "Xq8VSgvIgRSbTl2qWWRWr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 26}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 107, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 824, "id": "6-Rj9XHzPSOVFJfd_bxZd"}, {"label": "subtasks", "start_step": 108, "end_step": 241, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 242, "end_step": 271, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 272, "end_step": 322, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 323, "end_step": 384, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 402, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 611, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 612, "end_step": 659, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 660, "end_step": 692, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 825, "end_step": 973, "id": "AjqgcMgLOyBmguYK08NG_"}, {"label": "subtasks", "start_step": 693, "end_step": 740, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 784, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 785, "end_step": 814, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 815, "end_step": 824, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "error", "start_step": 785, "end_step": 824, "id": "error-001", "note": "The top and bottom flaps are not closed."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 107, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 108, "end_step": 241, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 242, "end_step": 271, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 272, "end_step": 322, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 323, "end_step": 384, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 402, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 611, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 612, "end_step": 659, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 660, "end_step": 692, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 693, "end_step": 740, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 784, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 785, "end_step": 814, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 815, "end_step": 824, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 24, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 187, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1044, "id": "olkOQeZjcf3lsOK_G2pcW"}, {"label": "subtasks", "start_step": 188, "end_step": 318, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 339, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 340, "end_step": 388, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 389, "end_step": 459, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 549, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 550, "end_step": 764, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 765, "end_step": 803, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 804, "end_step": 821, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 822, "end_step": 880, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 920, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 1045, "end_step": 1192, "id": "AvLdLCNvDEdKoQkSlOrY2"}, {"label": "subtasks", "start_step": 921, "end_step": 1017, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1018, "end_step": 1044, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 187, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 188, "end_step": 318, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 339, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 340, "end_step": 388, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 389, "end_step": 459, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 549, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 550, "end_step": 764, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 765, "end_step": 803, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 804, "end_step": 821, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 822, "end_step": 880, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 920, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 921, "end_step": 1017, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1018, "end_step": 1044, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 25, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 243, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1296, "id": "SPUfxiYN0JAFPYZBmIqNU"}, {"label": "subtasks", "start_step": 244, "end_step": 575, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 576, "end_step": 685, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 686, "end_step": 765, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 835, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 836, "end_step": 895, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 896, "end_step": 1069, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1070, "end_step": 1108, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1109, "end_step": 1125, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1152, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1153, "end_step": 1188, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1272, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1296, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1297, "end_step": 1445, "id": "Xq8VSgvIgRSbTl2qWWRWr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 243, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 244, "end_step": 575, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 576, "end_step": 685, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 686, "end_step": 765, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 835, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 836, "end_step": 895, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 896, "end_step": 1069, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1070, "end_step": 1108, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1109, "end_step": 1125, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1152, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1153, "end_step": 1188, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1272, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1296, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 26, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "2f0a6ab92df3ae2e", "num_frames": 1910, "episode_id": "POC22027_2026_05_14_23_25_16_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_25_16_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_25_16_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_25_16_train/train_0.3.0@2026_05_14_23_25_16.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 270, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 738, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 1089, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1278, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1279, "end_step": 1698, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1699, "end_step": 1749, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 270, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 738, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 1089, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1278, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1279, "end_step": 1698, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1699, "end_step": 1749, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 26, "v40_language_source": "previous_published_lerobot", "episode_index": 27}
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-{"source_uid": "52db1b6008968fbd", "num_frames": 1711, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "goal", "start_step": 0, "end_step": 174, "id": "9a6a1f9f-aefc-496b-91fc-ed0ac4dd6a9e"}, {"label": "valid", "start_step": 0, "end_step": 1562, "id": "Gu3BnZ1C8BPXTRzIRwtLV"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "goal", "start_step": 175, "end_step": 819, "id": "f740824b-bad3-43cb-9676-4029653165c4"}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 820, "end_step": 1134, "id": "f43a0f63-a3b7-44ce-8eb2-eb2e29bf9c3e"}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 1135, "end_step": 1290, "id": "6f7379af-8363-4ed9-935a-f1f0c822381c"}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "goal", "start_step": 1291, "end_step": 1554, "id": "dac52921-cfd5-418f-ac9d-a19640477fc7"}, {"label": "goal", "start_step": 1555, "end_step": 1575, "id": "4bbfdf8e-e58c-4748-b6eb-03d3437c70b4"}, {"label": "home", "start_step": 1563, "end_step": 1710, "id": "r2K9obeGYtvdPvoTEsWPN"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 29}
+{"source_uid": "52db1b6008968fbd", "num_frames": 1711, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"f740824b-bad3-43cb-9676-4029653165c4"}, {"label": "subtasks", "start_step": 627, "end_step": 674, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 675, "end_step": 863, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 864, "end_step": 968, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 969, "end_step": 1091, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1092, "end_step": 1292, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1293, "end_step": 1342, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1343, "end_step": 1369, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 820, "end_step": 1134, "id": "f43a0f63-a3b7-44ce-8eb2-eb2e29bf9c3e"}, {"label": "subtasks", "start_step": 1370, "end_step": 1396, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1397, "end_step": 1432, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1433, "end_step": 1533, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 1135, "end_step": 1290, "id": "6f7379af-8363-4ed9-935a-f1f0c822381c"}, {"label": "subtasks", "start_step": 1534, "end_step": 1562, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "goal", "start_step": 1291, "end_step": 1554, "id": "dac52921-cfd5-418f-ac9d-a19640477fc7"}, {"label": "goal", "start_step": 1555, "end_step": 1575, "id": "4bbfdf8e-e58c-4748-b6eb-03d3437c70b4"}, {"label": "home", "start_step": 1563, "end_step": 1710, "id": "r2K9obeGYtvdPvoTEsWPN"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 224, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 626, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 627, "end_step": 674, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 675, "end_step": 863, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 864, "end_step": 968, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 969, "end_step": 1091, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1092, "end_step": 1292, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1293, "end_step": 1342, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1343, "end_step": 1369, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1370, "end_step": 1396, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1397, "end_step": 1432, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1433, "end_step": 1533, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1534, "end_step": 1562, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 29, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "7c8e5e09b4241e62", "num_frames": 1739, "episode_id": "POC22027_2026_05_14_23_28_26_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_28_26_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_28_26_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_28_26_train/train_0.3.0@2026_05_14_23_28_26.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 234, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 600, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 1050, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1051, "end_step": 1242, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1539, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1540, "end_step": 1608, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 234, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 600, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 1050, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1051, "end_step": 1242, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1539, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1540, "end_step": 1608, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 28, "v40_language_source": "previous_published_lerobot", "episode_index": 30}
-{"source_uid": "9fc70de52e7630f1", "num_frames": 1530, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1381, "id": "S3r39pe1iI2lZ8YNje1Kq"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1382, "end_step": 1529, "id": "56IFch8_zcXeMT09R1cqr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 31}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 779, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 780, "end_step": 872, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 873, "end_step": 957, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 958, "end_step": 1145, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1146, "end_step": 1184, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1185, "end_step": 1201, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1202, "end_step": 1228, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1229, "end_step": 1264, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1265, "end_step": 1357, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1358, "end_step": 1381, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1382, "end_step": 1529, "id": "56IFch8_zcXeMT09R1cqr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 220, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 221, "end_step": 552, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 678, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 779, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 780, "end_step": 872, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 873, "end_step": 957, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 958, "end_step": 1145, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1146, "end_step": 1184, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1185, "end_step": 1201, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1202, "end_step": 1228, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1229, "end_step": 1264, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1265, "end_step": 1357, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1358, "end_step": 1381, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 31, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "3ff48b35bbf75763", "num_frames": 1278, "episode_id": "POC22027_2026_05_14_23_30_25_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_30_25_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_30_25_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_30_25_train/train_0.3.0@2026_05_14_23_30_25.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 477, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 744, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 924, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1071, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 477, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 744, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 924, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1071, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 29, "v40_language_source": "previous_published_lerobot", "episode_index": 32}
 {"source_uid": "37d09d7adb8a7d3f", "num_frames": 1545, "episode_id": "POC22027_2026_05_14_23_32_32_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_32_32_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_32_32_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_32_32_train/train_0.3.0@2026_05_14_23_32_32.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 558, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 933, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 1101, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1335, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1336, "end_step": 1407, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 558, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 933, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 1101, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1335, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1336, "end_step": 1407, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 31, "v40_language_source": "previous_published_lerobot", "episode_index": 33}
-{"source_uid": "16924308b81d36bb", "num_frames": 1400, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1251, "id": "TEhchxTymMJ1RfA7zOtS2"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1252, "end_step": 1399, "id": "9gXOYLsMvUtd8eFn1oUwm"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 34}
-{"source_uid": "6d6ee8c51ae4f4f2", "num_frames": 1436, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1286, "id": "T7qMUHtJG36ua7nyRdL4p"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1287, "end_step": 1435, "id": "f86rNYwhB0okHWJs_6pc7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 35}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1226, "id": "e5OGQPgT1hvc8_9AGgACI"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1227, "end_step": 1375, "id": "6_Op4ejcqZpj8rgYgVLPE"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 36}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 584, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 585, "end_step": 685, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 686, "end_step": 753, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 946, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 947, "end_step": 997, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 998, "end_step": 1025, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1026, "end_step": 1070, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1071, "end_step": 1106, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1107, "end_step": 1224, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1251, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1252, "end_step": 1399, "id": "9gXOYLsMvUtd8eFn1oUwm"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 382, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 383, "end_step": 459, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 584, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 585, "end_step": 685, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 686, "end_step": 753, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 946, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 947, "end_step": 997, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 998, "end_step": 1025, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1026, "end_step": 1070, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1071, "end_step": 1106, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1107, "end_step": 1224, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1251, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 34, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
+{"source_uid": "6d6ee8c51ae4f4f2", "num_frames": 1436, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 209, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1286, "id": "T7qMUHtJG36ua7nyRdL4p"}, {"label": "subtasks", "start_step": 210, "end_step": 446, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 513, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 618, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 711, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 792, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 978, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 979, "end_step": 1026, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1059, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1060, "end_step": 1107, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1149, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1259, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1260, "end_step": 1286, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1287, "end_step": 1435, "id": "f86rNYwhB0okHWJs_6pc7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 209, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 210, "end_step": 446, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 513, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 618, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 711, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 792, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 978, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 979, "end_step": 1026, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1059, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1060, "end_step": 1107, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1149, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1259, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1260, "end_step": 1286, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 35, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
+{"source_uid": "513d5713afa028bb", "num_frames": 1376, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1226, "id": "e5OGQPgT1hvc8_9AGgACI"}, {"label": "subtasks", "start_step": 199, "end_step": 394, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 395, "end_step": 454, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 455, "end_step": 508, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 509, "end_step": 597, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 672, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 880, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 928, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 929, "end_step": 976, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 977, "end_step": 1029, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1190, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1191, "end_step": 1226, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1227, "end_step": 1375, "id": "6_Op4ejcqZpj8rgYgVLPE"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 394, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 395, "end_step": 454, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 455, "end_step": 508, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 509, "end_step": 597, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 672, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 880, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 928, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 929, "end_step": 976, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 977, "end_step": 1029, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1190, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1191, "end_step": 1226, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 36, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "f814c3ccc5362ac5", "num_frames": 1716, "episode_id": "POC22027_2026_05_14_23_36_01_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_36_01_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_36_01_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_36_01_train/train_0.3.0@2026_05_14_23_36_01.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 585, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 1128, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1311, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1312, "end_step": 1554, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1555, "end_step": 1563, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 585, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 1128, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1311, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1312, "end_step": 1554, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1555, "end_step": 1563, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 32, "v40_language_source": "previous_published_lerobot", "episode_index": 37}
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@@ -42,7 +42,7 @@
 {"source_uid": "cd87ffc539676293", "num_frames": 1669, "episode_id": "POC22027_2026_05_14_23_39_34_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_39_34_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_39_34_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_39_34_train/train_0.3.0@2026_05_14_23_39_34.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 570, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 1026, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1194, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1464, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1465, "end_step": 1512, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 570, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 1026, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1194, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1464, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1465, "end_step": 1512, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 36, "v40_language_source": "previous_published_lerobot", "episode_index": 41}
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 {"source_uid": "035a5a9664a1ab47", "num_frames": 1698, "episode_id": "POC22027_2026_05_14_23_41_34_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_41_34_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_41_34_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_41_34_train/train_0.3.0@2026_05_14_23_41_34.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 519, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 520, "end_step": 936, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1221, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1536, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1537, "end_step": 1542, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 519, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 520, "end_step": 936, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1221, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1536, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1537, "end_step": 1542, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 38, "v40_language_source": "previous_published_lerobot", "episode_index": 43}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1459, "end_step": 1607, "id": "5HA4TS-9SV37XWsGwxIoP"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 44}
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The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 203, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1458, "id": "ohVeCQVWqbWr2mUN5Kzeb"}, {"label": "subtasks", "start_step": 204, "end_step": 448, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 449, "end_step": 540, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 612, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 788, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 789, "end_step": 886, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 887, "end_step": 1066, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1067, "end_step": 1132, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1133, "end_step": 1169, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1170, "end_step": 1211, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1212, "end_step": 1281, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1282, "end_step": 1414, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1415, "end_step": 1458, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1459, "end_step": 1607, "id": "5HA4TS-9SV37XWsGwxIoP"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 203, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 204, "end_step": 448, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 449, "end_step": 540, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 612, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 788, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 789, "end_step": 886, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 887, "end_step": 1066, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1067, "end_step": 1132, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1133, "end_step": 1169, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1170, "end_step": 1211, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1212, "end_step": 1281, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1282, "end_step": 1414, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1415, "end_step": 1458, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 44, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "a1f5ee1ee5934c04", "num_frames": 1688, "episode_id": "POC22027_2026_05_14_23_44_33_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_44_33_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_44_33_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_44_33_train/train_0.3.0@2026_05_14_23_44_33.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 693, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 1119, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1120, "end_step": 1299, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1300, "end_step": 1509, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1510, "end_step": 1527, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 693, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 1119, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1120, "end_step": 1299, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1300, "end_step": 1509, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1510, "end_step": 1527, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 40, "v40_language_source": "previous_published_lerobot", "episode_index": 45}
 {"source_uid": "9a72b277557ac4d5", "num_frames": 1587, "episode_id": "POC22027_2026_05_14_23_45_30_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_45_30_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_45_30_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_45_30_train/train_0.3.0@2026_05_14_23_45_30.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 609, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 610, "end_step": 999, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1194, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1398, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1461, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 609, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 610, "end_step": 999, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1194, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1398, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1461, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 41, "v40_language_source": "previous_published_lerobot", "episode_index": 46}
 {"source_uid": "6e6d0d85d773c7af", "num_frames": 1355, "episode_id": "POC22027_2026_05_14_23_46_27_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_46_27_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_46_27_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_46_27_train/train_0.3.0@2026_05_14_23_46_27.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 579, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 816, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 987, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 988, "end_step": 1188, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1197, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 579, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 816, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 987, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 988, "end_step": 1188, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1197, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 42, "v40_language_source": "previous_published_lerobot", "episode_index": 47}
@@ -50,10 +50,10 @@
 {"source_uid": "c2767d5e4debc2ed", "num_frames": 1289, "episode_id": "POC22027_2026_05_14_23_50_05_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_50_05_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_50_05_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_50_05_train/train_0.3.0@2026_05_14_23_50_05.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 465, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 466, "end_step": 723, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 724, "end_step": 879, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 880, "end_step": 1119, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1120, "end_step": 1137, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 465, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 466, "end_step": 723, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 724, "end_step": 879, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 880, "end_step": 1119, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1120, "end_step": 1137, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 45, "v40_language_source": "previous_published_lerobot", "episode_index": 49}
 {"source_uid": "a000fe79571c5a25", "num_frames": 1599, "episode_id": "POC22027_2026_05_14_23_51_23_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_51_23_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_51_23_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_51_23_train/train_0.3.0@2026_05_14_23_51_23.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 501, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 502, "end_step": 921, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 922, "end_step": 1107, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1419, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1420, "end_step": 1437, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 501, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 502, "end_step": 921, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 922, "end_step": 1107, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1419, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1420, "end_step": 1437, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 46, "v40_language_source": "previous_published_lerobot", "episode_index": 50}
 {"source_uid": "c1f2a8a35d02d54d", "num_frames": 1499, "episode_id": "POC22027_2026_05_14_23_52_19_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_52_19_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_52_19_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_52_19_train/train_0.3.0@2026_05_14_23_52_19.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 396, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 738, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 1074, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1075, "end_step": 1305, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1359, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 396, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 738, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 1074, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1075, "end_step": 1305, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1359, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 47, "v40_language_source": "previous_published_lerobot", "episode_index": 51}
-{"source_uid": "628697f22b454f4b", "num_frames": 1265, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1116, "id": "fC3UE2nnJ2NBq2uNrJmRG"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 1117, "end_step": 1264, "id": "NvUs4hdRGXi76YFgu4PuY"}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 52}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 423, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 424, "end_step": 503, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 504, "end_step": 578, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 579, "end_step": 856, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 857, "end_step": 906, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 923, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 924, "end_step": 964, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 965, "end_step": 1000, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1001, "end_step": 1090, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 1117, "end_step": 1264, "id": "NvUs4hdRGXi76YFgu4PuY"}, {"label": "subtasks", "start_step": 1091, "end_step": 1116, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 191, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 192, "end_step": 328, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 329, "end_step": 369, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 423, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 424, "end_step": 503, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 504, "end_step": 578, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 579, "end_step": 856, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 857, "end_step": 906, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 923, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 924, "end_step": 964, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 965, "end_step": 1000, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1001, "end_step": 1090, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1091, "end_step": 1116, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 52, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "94c41a4709ba136e", "num_frames": 1270, "episode_id": "POC22027_2026_05_14_23_55_04_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_55_04_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_55_04_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_55_04_train/train_0.3.0@2026_05_14_23_55_04.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 366, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 702, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 855, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 856, "end_step": 1095, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1104, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 366, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 702, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 855, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 856, "end_step": 1095, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1104, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 49, "v40_language_source": "previous_published_lerobot", "episode_index": 53}
 {"source_uid": "c8e763e849bec04f", "num_frames": 1514, "episode_id": "POC22027_2026_05_15_00_19_58_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_19_58_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_19_58_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_19_58_train/train_0.3.0@2026_05_15_00_19_58.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 468, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 804, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 1040, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1041, "end_step": 1344, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1345, "end_step": 1365, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 468, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 804, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 1040, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1041, "end_step": 1344, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1345, "end_step": 1365, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 50, "v40_language_source": "previous_published_lerobot", "episode_index": 54}
-{"source_uid": "baf3e138543fb07f", "num_frames": 1635, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1485, "id": "B4HVU3Q3_LUwOTw9HTGhO"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1486, "end_step": 1634, "id": 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"atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 55}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 615, "end_step": 717, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 808, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 809, "end_step": 894, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 1094, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1095, "end_step": 1208, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1209, "end_step": 1242, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1285, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1286, "end_step": 1332, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1453, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1454, "end_step": 1485, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1486, "end_step": 1634, "id": "vWkuCsWl8BX596m_-8Nwu"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 202, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 203, "end_step": 503, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 504, "end_step": 614, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 615, "end_step": 717, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 808, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 809, "end_step": 894, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 1094, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1095, "end_step": 1208, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1209, "end_step": 1242, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1285, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1286, "end_step": 1332, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1453, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1454, "end_step": 1485, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 55, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "b38f733f47cd3f6e", "num_frames": 1384, "episode_id": "POC22027_2026_05_15_00_21_50_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_21_50_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_21_50_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_21_50_train/train_0.3.0@2026_05_15_00_21_50.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 426, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 720, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 926, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 927, "end_step": 1173, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1174, "end_step": 1218, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 426, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 427, "end_step": 720, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 926, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 927, "end_step": 1173, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1174, "end_step": 1218, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 51, "v40_language_source": "previous_published_lerobot", "episode_index": 56}
 {"source_uid": "374e161b060fe9a4", "num_frames": 1701, "episode_id": "POC22027_2026_05_15_00_22_38_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_22_38_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_22_38_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_22_38_train/train_0.3.0@2026_05_15_00_22_38.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 693, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 993, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 994, "end_step": 1194, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1509, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1510, "end_step": 1530, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 693, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 993, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 994, "end_step": 1194, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1509, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1510, "end_step": 1530, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 52, "v40_language_source": "previous_published_lerobot", "episode_index": 57}
 {"source_uid": "9f434342aed580e3", "num_frames": 1436, "episode_id": "POC22027_2026_05_15_00_23_37_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_23_37_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_23_37_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_23_37_train/train_0.3.0@2026_05_15_00_23_37.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 507, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 762, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 930, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 1248, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1249, "end_step": 1290, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 507, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 762, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 930, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 1248, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1249, "end_step": 1290, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 53, "v40_language_source": "previous_published_lerobot", "episode_index": 58}
diff --git a/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v3.0/meta/annotations.jsonl b/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v3.0/meta/annotations.jsonl
index 681e9dd65dc66d3ba44ace08f01549160f86fd83..72b21e55639abe9fd28dbbbe14ce9e5f5b6b792c 100644
--- a/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v3.0/meta/annotations.jsonl
+++ b/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v3.0/meta/annotations.jsonl
@@ -22,19 +22,19 @@
 {"source_uid": "4862611958822659", "num_frames": 1654, "episode_id": "POC22027_2026_05_14_23_18_46_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_18_46_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_18_46_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_18_46_train/train_0.3.0@2026_05_14_23_18_46.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 432, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 915, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1197, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1198, "end_step": 1437, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1438, "end_step": 1530, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 432, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 915, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1197, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1198, "end_step": 1437, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1438, "end_step": 1530, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 22, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
 {"source_uid": "8340e3118868b11b", "num_frames": 1606, "episode_id": "POC22027_2026_05_14_23_20_43_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_20_43_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_20_43_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_20_43_train/train_0.3.0@2026_05_14_23_20_43.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 435, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 436, "end_step": 927, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 928, "end_step": 1164, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1165, "end_step": 1410, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1411, "end_step": 1476, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 435, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 436, "end_step": 927, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 928, "end_step": 1164, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1165, "end_step": 1410, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1411, "end_step": 1476, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 24, "v40_language_source": "previous_published_lerobot", "episode_index": 22}
 {"source_uid": "7ef241addcba2b84", "num_frames": 1908, "episode_id": "POC22027_2026_05_14_23_21_42_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_21_42_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_21_42_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_21_42_train/train_0.3.0@2026_05_14_23_21_42.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 735, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 1218, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1521, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1522, "end_step": 1734, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1735, "end_step": 1767, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 735, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 1218, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1521, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1522, "end_step": 1734, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1735, "end_step": 1767, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 25, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
-{"source_uid": "9ca786ac7556f04e", "num_frames": 974, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 824, "id": "6-Rj9XHzPSOVFJfd_bxZd"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 825, "end_step": 973, "id": "AjqgcMgLOyBmguYK08NG_"}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 24}
-{"source_uid": "32094daad41fe246", "num_frames": 1193, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1044, "id": "olkOQeZjcf3lsOK_G2pcW"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 1045, "end_step": 1192, "id": "AvLdLCNvDEdKoQkSlOrY2"}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 25}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1296, "id": "SPUfxiYN0JAFPYZBmIqNU"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1297, "end_step": 1445, "id": "Xq8VSgvIgRSbTl2qWWRWr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 26}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 107, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 824, "id": "6-Rj9XHzPSOVFJfd_bxZd"}, {"label": "subtasks", "start_step": 108, "end_step": 241, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 242, "end_step": 271, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 272, "end_step": 322, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 323, "end_step": 384, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 402, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 611, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 612, "end_step": 659, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 660, "end_step": 692, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 825, "end_step": 973, "id": "AjqgcMgLOyBmguYK08NG_"}, {"label": "subtasks", "start_step": 693, "end_step": 740, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 784, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 785, "end_step": 814, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 815, "end_step": 824, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "error", "start_step": 785, "end_step": 824, "id": "error-001", "note": "The top and bottom flaps are not closed."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 107, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 108, "end_step": 241, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 242, "end_step": 271, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 272, "end_step": 322, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 323, "end_step": 384, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 402, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 611, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 612, "end_step": 659, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 660, "end_step": 692, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 693, "end_step": 740, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 784, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 785, "end_step": 814, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 815, "end_step": 824, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 24, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 187, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1044, "id": "olkOQeZjcf3lsOK_G2pcW"}, {"label": "subtasks", "start_step": 188, "end_step": 318, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 339, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 340, "end_step": 388, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 389, "end_step": 459, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 549, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 550, "end_step": 764, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 765, "end_step": 803, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 804, "end_step": 821, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 822, "end_step": 880, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 920, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 1045, "end_step": 1192, "id": "AvLdLCNvDEdKoQkSlOrY2"}, {"label": "subtasks", "start_step": 921, "end_step": 1017, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1018, "end_step": 1044, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 187, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 188, "end_step": 318, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 339, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 340, "end_step": 388, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 389, "end_step": 459, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 549, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 550, "end_step": 764, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 765, "end_step": 803, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 804, "end_step": 821, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 822, "end_step": 880, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 920, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 921, "end_step": 1017, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1018, "end_step": 1044, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 25, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 243, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1296, "id": "SPUfxiYN0JAFPYZBmIqNU"}, {"label": "subtasks", "start_step": 244, "end_step": 575, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 576, "end_step": 685, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 686, "end_step": 765, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 835, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 836, "end_step": 895, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 896, "end_step": 1069, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1070, "end_step": 1108, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1109, "end_step": 1125, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1152, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1153, "end_step": 1188, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1272, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1296, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1297, "end_step": 1445, "id": "Xq8VSgvIgRSbTl2qWWRWr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 243, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 244, "end_step": 575, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 576, "end_step": 685, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 686, "end_step": 765, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 835, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 836, "end_step": 895, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 896, "end_step": 1069, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1070, "end_step": 1108, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1109, "end_step": 1125, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1152, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1153, "end_step": 1188, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1272, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1296, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 26, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "2f0a6ab92df3ae2e", "num_frames": 1910, "episode_id": "POC22027_2026_05_14_23_25_16_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_25_16_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_25_16_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_25_16_train/train_0.3.0@2026_05_14_23_25_16.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 270, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 738, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 1089, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1278, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1279, "end_step": 1698, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1699, "end_step": 1749, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 270, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 738, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 1089, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1278, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1279, "end_step": 1698, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1699, "end_step": 1749, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 26, "v40_language_source": "previous_published_lerobot", "episode_index": 27}
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-{"source_uid": "52db1b6008968fbd", "num_frames": 1711, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "goal", "start_step": 0, "end_step": 174, "id": "9a6a1f9f-aefc-496b-91fc-ed0ac4dd6a9e"}, {"label": "valid", "start_step": 0, "end_step": 1562, "id": "Gu3BnZ1C8BPXTRzIRwtLV"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "goal", "start_step": 175, "end_step": 819, "id": "f740824b-bad3-43cb-9676-4029653165c4"}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 820, "end_step": 1134, "id": "f43a0f63-a3b7-44ce-8eb2-eb2e29bf9c3e"}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 1135, "end_step": 1290, "id": "6f7379af-8363-4ed9-935a-f1f0c822381c"}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "goal", "start_step": 1291, "end_step": 1554, "id": "dac52921-cfd5-418f-ac9d-a19640477fc7"}, {"label": "goal", "start_step": 1555, "end_step": 1575, "id": "4bbfdf8e-e58c-4748-b6eb-03d3437c70b4"}, {"label": "home", "start_step": 1563, "end_step": 1710, "id": "r2K9obeGYtvdPvoTEsWPN"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 29}
+{"source_uid": "52db1b6008968fbd", "num_frames": 1711, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"f740824b-bad3-43cb-9676-4029653165c4"}, {"label": "subtasks", "start_step": 627, "end_step": 674, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 675, "end_step": 863, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 864, "end_step": 968, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 969, "end_step": 1091, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1092, "end_step": 1292, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1293, "end_step": 1342, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1343, "end_step": 1369, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 820, "end_step": 1134, "id": "f43a0f63-a3b7-44ce-8eb2-eb2e29bf9c3e"}, {"label": "subtasks", "start_step": 1370, "end_step": 1396, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1397, "end_step": 1432, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1433, "end_step": 1533, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 1135, "end_step": 1290, "id": "6f7379af-8363-4ed9-935a-f1f0c822381c"}, {"label": "subtasks", "start_step": 1534, "end_step": 1562, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "goal", "start_step": 1291, "end_step": 1554, "id": "dac52921-cfd5-418f-ac9d-a19640477fc7"}, {"label": "goal", "start_step": 1555, "end_step": 1575, "id": "4bbfdf8e-e58c-4748-b6eb-03d3437c70b4"}, {"label": "home", "start_step": 1563, "end_step": 1710, "id": "r2K9obeGYtvdPvoTEsWPN"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 224, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 626, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 627, "end_step": 674, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 675, "end_step": 863, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 864, "end_step": 968, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 969, "end_step": 1091, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1092, "end_step": 1292, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1293, "end_step": 1342, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1343, "end_step": 1369, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1370, "end_step": 1396, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1397, "end_step": 1432, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1433, "end_step": 1533, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1534, "end_step": 1562, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 29, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "7c8e5e09b4241e62", "num_frames": 1739, "episode_id": "POC22027_2026_05_14_23_28_26_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_28_26_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_28_26_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_28_26_train/train_0.3.0@2026_05_14_23_28_26.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 234, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 600, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 1050, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1051, "end_step": 1242, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1539, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1540, "end_step": 1608, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 234, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 600, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 1050, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1051, "end_step": 1242, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1539, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1540, "end_step": 1608, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 28, "v40_language_source": "previous_published_lerobot", "episode_index": 30}
-{"source_uid": "9fc70de52e7630f1", "num_frames": 1530, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1381, "id": "S3r39pe1iI2lZ8YNje1Kq"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1382, "end_step": 1529, "id": "56IFch8_zcXeMT09R1cqr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 31}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 779, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 780, "end_step": 872, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 873, "end_step": 957, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 958, "end_step": 1145, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1146, "end_step": 1184, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1185, "end_step": 1201, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1202, "end_step": 1228, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1229, "end_step": 1264, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1265, "end_step": 1357, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1358, "end_step": 1381, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1382, "end_step": 1529, "id": "56IFch8_zcXeMT09R1cqr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 220, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 221, "end_step": 552, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 678, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 779, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 780, "end_step": 872, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 873, "end_step": 957, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 958, "end_step": 1145, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1146, "end_step": 1184, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1185, "end_step": 1201, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1202, "end_step": 1228, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1229, "end_step": 1264, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1265, "end_step": 1357, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1358, "end_step": 1381, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 31, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "3ff48b35bbf75763", "num_frames": 1278, "episode_id": "POC22027_2026_05_14_23_30_25_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_30_25_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_30_25_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_30_25_train/train_0.3.0@2026_05_14_23_30_25.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 477, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 744, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 924, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1071, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 477, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 744, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 924, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1071, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 29, "v40_language_source": "previous_published_lerobot", "episode_index": 32}
 {"source_uid": "37d09d7adb8a7d3f", "num_frames": 1545, "episode_id": "POC22027_2026_05_14_23_32_32_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_32_32_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_32_32_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_32_32_train/train_0.3.0@2026_05_14_23_32_32.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 558, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 933, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 1101, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1335, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1336, "end_step": 1407, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 558, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 933, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 1101, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1335, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1336, "end_step": 1407, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 31, "v40_language_source": "previous_published_lerobot", "episode_index": 33}
-{"source_uid": "16924308b81d36bb", "num_frames": 1400, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1251, "id": "TEhchxTymMJ1RfA7zOtS2"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1252, "end_step": 1399, "id": "9gXOYLsMvUtd8eFn1oUwm"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 34}
-{"source_uid": "6d6ee8c51ae4f4f2", "num_frames": 1436, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1286, "id": "T7qMUHtJG36ua7nyRdL4p"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1287, "end_step": 1435, "id": "f86rNYwhB0okHWJs_6pc7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 35}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1226, "id": "e5OGQPgT1hvc8_9AGgACI"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1227, "end_step": 1375, "id": "6_Op4ejcqZpj8rgYgVLPE"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 36}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 584, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 585, "end_step": 685, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 686, "end_step": 753, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 946, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 947, "end_step": 997, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 998, "end_step": 1025, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1026, "end_step": 1070, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1071, "end_step": 1106, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1107, "end_step": 1224, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1251, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1252, "end_step": 1399, "id": "9gXOYLsMvUtd8eFn1oUwm"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 382, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 383, "end_step": 459, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 584, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 585, "end_step": 685, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 686, "end_step": 753, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 946, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 947, "end_step": 997, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 998, "end_step": 1025, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1026, "end_step": 1070, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1071, "end_step": 1106, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1107, "end_step": 1224, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1251, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 34, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
+{"source_uid": "6d6ee8c51ae4f4f2", "num_frames": 1436, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 209, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1286, "id": "T7qMUHtJG36ua7nyRdL4p"}, {"label": "subtasks", "start_step": 210, "end_step": 446, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 513, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 618, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 711, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 792, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 978, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 979, "end_step": 1026, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1059, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1060, "end_step": 1107, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1149, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1259, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1260, "end_step": 1286, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1287, "end_step": 1435, "id": "f86rNYwhB0okHWJs_6pc7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 209, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 210, "end_step": 446, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 513, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 618, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 711, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 792, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 978, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 979, "end_step": 1026, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1059, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1060, "end_step": 1107, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1149, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1259, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1260, "end_step": 1286, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 35, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
+{"source_uid": "513d5713afa028bb", "num_frames": 1376, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1226, "id": "e5OGQPgT1hvc8_9AGgACI"}, {"label": "subtasks", "start_step": 199, "end_step": 394, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 395, "end_step": 454, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 455, "end_step": 508, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 509, "end_step": 597, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 672, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 880, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 928, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 929, "end_step": 976, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 977, "end_step": 1029, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1190, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1191, "end_step": 1226, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1227, "end_step": 1375, "id": "6_Op4ejcqZpj8rgYgVLPE"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 394, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 395, "end_step": 454, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 455, "end_step": 508, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 509, "end_step": 597, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 672, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 880, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 928, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 929, "end_step": 976, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 977, "end_step": 1029, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1190, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1191, "end_step": 1226, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 36, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "f814c3ccc5362ac5", "num_frames": 1716, "episode_id": "POC22027_2026_05_14_23_36_01_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_36_01_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_36_01_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_36_01_train/train_0.3.0@2026_05_14_23_36_01.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 585, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 1128, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1311, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1312, "end_step": 1554, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1555, "end_step": 1563, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 585, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 1128, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1311, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1312, "end_step": 1554, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1555, "end_step": 1563, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 32, "v40_language_source": "previous_published_lerobot", "episode_index": 37}
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@@ -42,7 +42,7 @@
 {"source_uid": "cd87ffc539676293", "num_frames": 1669, "episode_id": "POC22027_2026_05_14_23_39_34_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_39_34_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_39_34_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_39_34_train/train_0.3.0@2026_05_14_23_39_34.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 570, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 1026, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1194, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1464, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1465, "end_step": 1512, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 570, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 1026, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1194, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1464, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1465, "end_step": 1512, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 36, "v40_language_source": "previous_published_lerobot", "episode_index": 41}
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 {"source_uid": "035a5a9664a1ab47", "num_frames": 1698, "episode_id": "POC22027_2026_05_14_23_41_34_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_41_34_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_41_34_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_41_34_train/train_0.3.0@2026_05_14_23_41_34.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 519, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 520, "end_step": 936, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1221, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1536, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1537, "end_step": 1542, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 519, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 520, "end_step": 936, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1221, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1536, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1537, "end_step": 1542, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 38, "v40_language_source": "previous_published_lerobot", "episode_index": 43}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1459, "end_step": 1607, "id": "5HA4TS-9SV37XWsGwxIoP"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 44}
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The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 203, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1458, "id": "ohVeCQVWqbWr2mUN5Kzeb"}, {"label": "subtasks", "start_step": 204, "end_step": 448, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 449, "end_step": 540, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 612, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 788, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 789, "end_step": 886, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 887, "end_step": 1066, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1067, "end_step": 1132, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1133, "end_step": 1169, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1170, "end_step": 1211, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1212, "end_step": 1281, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1282, "end_step": 1414, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1415, "end_step": 1458, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1459, "end_step": 1607, "id": "5HA4TS-9SV37XWsGwxIoP"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 203, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 204, "end_step": 448, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 449, "end_step": 540, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 612, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 788, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 789, "end_step": 886, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 887, "end_step": 1066, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1067, "end_step": 1132, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1133, "end_step": 1169, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1170, "end_step": 1211, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1212, "end_step": 1281, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1282, "end_step": 1414, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1415, "end_step": 1458, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 44, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "a1f5ee1ee5934c04", "num_frames": 1688, "episode_id": "POC22027_2026_05_14_23_44_33_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_44_33_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_44_33_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_44_33_train/train_0.3.0@2026_05_14_23_44_33.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 693, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 1119, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1120, "end_step": 1299, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1300, "end_step": 1509, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1510, "end_step": 1527, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 693, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 1119, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1120, "end_step": 1299, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1300, "end_step": 1509, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1510, "end_step": 1527, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 40, "v40_language_source": "previous_published_lerobot", "episode_index": 45}
 {"source_uid": "9a72b277557ac4d5", "num_frames": 1587, "episode_id": "POC22027_2026_05_14_23_45_30_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_45_30_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_45_30_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_45_30_train/train_0.3.0@2026_05_14_23_45_30.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 609, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 610, "end_step": 999, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1194, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1398, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1461, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 609, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 610, "end_step": 999, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1194, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1398, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1461, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 41, "v40_language_source": "previous_published_lerobot", "episode_index": 46}
 {"source_uid": "6e6d0d85d773c7af", "num_frames": 1355, "episode_id": "POC22027_2026_05_14_23_46_27_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_46_27_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_46_27_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_46_27_train/train_0.3.0@2026_05_14_23_46_27.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 579, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 816, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 987, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 988, "end_step": 1188, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1197, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 579, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 816, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 987, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 988, "end_step": 1188, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1197, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 42, "v40_language_source": "previous_published_lerobot", "episode_index": 47}
@@ -50,10 +50,10 @@
 {"source_uid": "c2767d5e4debc2ed", "num_frames": 1289, "episode_id": "POC22027_2026_05_14_23_50_05_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_50_05_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_50_05_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_50_05_train/train_0.3.0@2026_05_14_23_50_05.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 465, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 466, "end_step": 723, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 724, "end_step": 879, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 880, "end_step": 1119, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1120, "end_step": 1137, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 465, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 466, "end_step": 723, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 724, "end_step": 879, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 880, "end_step": 1119, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1120, "end_step": 1137, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 45, "v40_language_source": "previous_published_lerobot", "episode_index": 49}
 {"source_uid": "a000fe79571c5a25", "num_frames": 1599, "episode_id": "POC22027_2026_05_14_23_51_23_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_51_23_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_51_23_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_51_23_train/train_0.3.0@2026_05_14_23_51_23.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 501, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 502, "end_step": 921, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 922, "end_step": 1107, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1419, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1420, "end_step": 1437, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 501, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 502, "end_step": 921, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 922, "end_step": 1107, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1419, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1420, "end_step": 1437, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 46, "v40_language_source": "previous_published_lerobot", "episode_index": 50}
 {"source_uid": "c1f2a8a35d02d54d", "num_frames": 1499, "episode_id": "POC22027_2026_05_14_23_52_19_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_52_19_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_52_19_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_52_19_train/train_0.3.0@2026_05_14_23_52_19.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 396, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 738, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 1074, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1075, "end_step": 1305, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1359, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 396, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 738, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 1074, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1075, "end_step": 1305, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1359, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 47, "v40_language_source": "previous_published_lerobot", "episode_index": 51}
-{"source_uid": "628697f22b454f4b", "num_frames": 1265, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1116, "id": "fC3UE2nnJ2NBq2uNrJmRG"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 1117, "end_step": 1264, "id": "NvUs4hdRGXi76YFgu4PuY"}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 52}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 423, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 424, "end_step": 503, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 504, "end_step": 578, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 579, "end_step": 856, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 857, "end_step": 906, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 923, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 924, "end_step": 964, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 965, "end_step": 1000, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1001, "end_step": 1090, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 1117, "end_step": 1264, "id": "NvUs4hdRGXi76YFgu4PuY"}, {"label": "subtasks", "start_step": 1091, "end_step": 1116, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 191, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 192, "end_step": 328, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 329, "end_step": 369, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 423, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 424, "end_step": 503, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 504, "end_step": 578, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 579, "end_step": 856, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 857, "end_step": 906, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 923, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 924, "end_step": 964, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 965, "end_step": 1000, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1001, "end_step": 1090, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1091, "end_step": 1116, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 52, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "94c41a4709ba136e", "num_frames": 1270, "episode_id": "POC22027_2026_05_14_23_55_04_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_55_04_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_55_04_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_14_23_55_04_train/train_0.3.0@2026_05_14_23_55_04.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 366, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 702, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 855, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 856, "end_step": 1095, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1104, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 366, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 702, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 855, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 856, "end_step": 1095, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1104, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 49, "v40_language_source": "previous_published_lerobot", "episode_index": 53}
 {"source_uid": "c8e763e849bec04f", "num_frames": 1514, "episode_id": "POC22027_2026_05_15_00_19_58_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_19_58_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_19_58_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_22_54_04_train/POC22027_2026_05_15_00_19_58_train/train_0.3.0@2026_05_15_00_19_58.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 468, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 804, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 1040, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1041, "end_step": 1344, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1345, "end_step": 1365, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 468, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 469, "end_step": 804, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 1040, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1041, "end_step": 1344, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1345, "end_step": 1365, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_22_54_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 50, "v40_language_source": "previous_published_lerobot", "episode_index": 54}
-{"source_uid": "baf3e138543fb07f", "num_frames": 1635, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 1485, "id": "B4HVU3Q3_LUwOTw9HTGhO"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1486, "end_step": 1634, "id": 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"atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 55}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 615, "end_step": 717, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 808, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 809, "end_step": 894, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 1094, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1095, "end_step": 1208, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1209, "end_step": 1242, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1285, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1286, "end_step": 1332, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1453, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1454, "end_step": 1485, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1486, "end_step": 1634, "id": "vWkuCsWl8BX596m_-8Nwu"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 202, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 203, "end_step": 503, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 504, "end_step": 614, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 615, "end_step": 717, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 808, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 809, "end_step": 894, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 1094, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1095, "end_step": 1208, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1209, "end_step": 1242, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1285, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1286, "end_step": 1332, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1453, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1454, "end_step": 1485, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 55, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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1210, "end_step": 1254, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1255, "end_step": 1300, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1301, "end_step": 1384, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1385, "end_step": 1408, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 7, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 752, "end_step": 829, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 830, "end_step": 910, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1087, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1088, "end_step": 1144, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1145, "end_step": 1177, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1178, "end_step": 1216, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1217, "end_step": 1273, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1274, "end_step": 1399, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1400, "end_step": 1447, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 246, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1087, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1088, "end_step": 1144, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1145, "end_step": 1177, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1178, "end_step": 1216, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1217, "end_step": 1273, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1274, "end_step": 1399, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1400, "end_step": 1447, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 7, "v40_language_source": "previous_published_lerobot", "episode_index": 8}
 {"source_uid": "a3ccf9ca5e0e8325", "num_frames": 1684, "episode_id": "POC22027_2026_05_30_20_44_18_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_44_18_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_44_18_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_44_18_train/train_0.3.0@2026_05_30_20_44_18.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1056, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1057, "end_step": 1137, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1329, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1330, "end_step": 1368, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1369, "end_step": 1400, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1401, "end_step": 1439, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1440, "end_step": 1508, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1509, "end_step": 1595, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1596, "end_step": 1646, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 249, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1329, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1330, "end_step": 1368, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1369, "end_step": 1400, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1401, "end_step": 1439, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1440, "end_step": 1508, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1509, "end_step": 1595, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1596, "end_step": 1646, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. 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 {"source_uid": "8db4ccce9fa73a3e", "num_frames": 1249, "episode_id": "POC22027_2026_05_30_20_45_24_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_45_24_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_45_24_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_45_24_train/train_0.3.0@2026_05_30_20_45_24.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 485, "end_step": 562, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 649, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 650, "end_step": 883, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 884, "end_step": 925, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 926, "end_step": 954, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 996, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 997, "end_step": 1047, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1048, "end_step": 1164, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1165, "end_step": 1209, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 237, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: 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{"label": "subtasks", "start_step": 650, "end_step": 883, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 884, "end_step": 925, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 926, "end_step": 954, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 996, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 997, "end_step": 1047, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1048, "end_step": 1164, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1165, "end_step": 1209, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 10}
@@ -20,8 +20,8 @@
 {"source_uid": "c219ad78630cb6da", "num_frames": 1601, "episode_id": "POC22027_2026_05_30_20_54_55_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_54_55_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_54_55_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_54_55_train/train_0.3.0@2026_05_30_20_54_55.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 1122, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1123, "end_step": 1293, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1294, "end_step": 1314, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1315, "end_step": 1368, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1369, "end_step": 1419, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"1b38c279-ac25-475b-a27e-2f0794980a07"}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 307, "end_step": 348, "id": "bbfaeff6-2def-40ae-b627-2aca11e3ecf9"}, {"label": "goal", "start_step": 349, "end_step": 402, "id": "98aed405-ecba-4279-ae90-3083fe1f91bb"}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 403, "end_step": 480, "id": "5b5f19fb-e353-403b-b0d6-6a3997b2993b"}, {"label": "goal", "start_step": 481, "end_step": 561, "id": "e8c06744-a7da-4d4f-97db-0070e5654679"}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 562, "end_step": 741, "id": "5dbdf630-fca0-4e56-b87d-bd80baa20dcc"}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 742, "end_step": 786, "id": "fe5c9079-4cc7-45c5-81ab-15ea8df8dffb"}, {"label": "goal", "start_step": 787, "end_step": 814, "id": "0113e45f-f279-449a-b6d2-8d43dcdb6b33"}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 815, "end_step": 859, "id": "5e1c551d-83d1-4086-98a9-92a767fbff6d"}, {"label": "goal", "start_step": 860, "end_step": 904, "id": "66a26b06-46a7-4be4-80ea-3ae069224201"}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "goal", "start_step": 905, "end_step": 1015, "id": "91e19b68-91e1-495a-b510-315ecb445a4c"}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 1016, "end_step": 1060, "id": "f056284c-c897-4286-8f7b-9d4fd65cd121"}, {"label": "home", "start_step": 1040, "end_step": 1090, "id": "oybtXo0i42HfP09H9uCQx"}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", 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399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 22}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "goal", "start_step": 0, "end_step": 237, "id": "002571fa-4b6e-40e9-95bd-511dd15229f6"}, {"label": "valid", "start_step": 0, "end_step": 1403, "id": "qg-8wmaUqR3NMZ3-MrQnJ"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": 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| Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 23}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "goal", "start_step": 0, "end_step": 174, "id": "3414af85-d7e8-4b9e-8076-1ccb37d912b8"}, {"label": "valid", "start_step": 0, "end_step": 1039, "id": "tON6C9SX-jy9VtRx8yHBb"}, {"label": "subtasks", "start_step": 184, "end_step": 314, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "goal", "start_step": 175, "end_step": 306, "id": 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{"label": "subtasks", "start_step": 481, "end_step": 556, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 562, "end_step": 741, "id": "5dbdf630-fca0-4e56-b87d-bd80baa20dcc"}, {"label": "subtasks", "start_step": 557, "end_step": 737, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 738, "end_step": 786, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 742, "end_step": 786, "id": "fe5c9079-4cc7-45c5-81ab-15ea8df8dffb"}, {"label": "goal", "start_step": 787, "end_step": 814, "id": "0113e45f-f279-449a-b6d2-8d43dcdb6b33"}, {"label": "subtasks", "start_step": 787, "end_step": 815, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 815, "end_step": 859, "id": "5e1c551d-83d1-4086-98a9-92a767fbff6d"}, {"label": "goal", "start_step": 860, "end_step": 904, "id": "66a26b06-46a7-4be4-80ea-3ae069224201"}, {"label": "subtasks", "start_step": 816, "end_step": 861, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "goal", "start_step": 905, "end_step": 1015, "id": "91e19b68-91e1-495a-b510-315ecb445a4c"}, {"label": "subtasks", "start_step": 862, "end_step": 909, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 1016, "end_step": 1060, "id": "f056284c-c897-4286-8f7b-9d4fd65cd121"}, {"label": "home", "start_step": 1040, "end_step": 1090, "id": "oybtXo0i42HfP09H9uCQx"}, {"label": "subtasks", "start_step": 910, "end_step": 1014, "id": "subtask-012", 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"end_step": 404, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 405, "end_step": 480, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 556, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 737, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 738, "end_step": 786, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 815, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: 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They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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"start_step": 1233, "end_step": 1259, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1260, "end_step": 1295, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1296, "end_step": 1379, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1380, "end_step": 1403, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 23, "timing_correction": "2026-10-16: subtask intervals re-timed. 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"task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1456, "end_step": 1500, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1501, "end_step": 1545, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1546, "end_step": 1668, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1669, "end_step": 1716, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 1141, "end_step": 1332, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1383, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1384, "end_step": 1455, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1456, "end_step": 1500, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1501, "end_step": 1545, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1546, "end_step": 1668, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1669, "end_step": 1716, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 22, "v40_language_source": "previous_published_lerobot", "episode_index": 25}
 {"source_uid": "6956035e1cd5d736", "num_frames": 1511, "episode_id": "POC22027_2026_05_30_21_02_15_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_02_15_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_02_15_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_02_15_train/train_0.3.0@2026_05_30_21_02_15.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 825, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 897, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 1095, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1137, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1173, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1174, "end_step": 1224, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1275, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1276, "end_step": 1401, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1402, "end_step": 1476, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 216, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 1095, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1137, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1173, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1174, "end_step": 1224, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1275, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1276, "end_step": 1401, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1402, "end_step": 1476, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 23, "v40_language_source": "previous_published_lerobot", "episode_index": 26}
@@ -32,7 +32,7 @@
 {"source_uid": "a9a9b20ee8b24e5a", "num_frames": 1612, "episode_id": "POC22027_2026_05_30_21_06_45_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_06_45_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_06_45_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_06_45_train/train_0.3.0@2026_05_30_21_06_45.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 900, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 966, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1237, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1282, "end_step": 1308, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1309, "end_step": 1356, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1357, "end_step": 1407, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1408, "end_step": 1527, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1528, "end_step": 1572, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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 {"source_uid": "65ac3888e499b597", "num_frames": 1399, "episode_id": "POC22027_2026_05_30_21_07_51_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_07_51_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_07_51_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_07_51_train/train_0.3.0@2026_05_30_21_07_51.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1034, "end_step": 1069, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1070, "end_step": 1120, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1121, "end_step": 1255, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1256, "end_step": 1351, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 201, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | 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[]}, {"label": "subtasks", "start_step": 654, "end_step": 830, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 831, "end_step": 893, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 894, "end_step": 1033, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1034, "end_step": 1069, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1070, "end_step": 1120, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1121, "end_step": 1255, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1256, "end_step": 1351, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 29, "v40_language_source": "previous_published_lerobot", "episode_index": 32}
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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 502, "end_step": 567, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 645, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 646, "end_step": 832, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 833, "end_step": 882, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 897, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 939, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 940, "end_step": 987, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 988, "end_step": 1077, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1122, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 219, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: 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{"label": "subtasks", "start_step": 646, "end_step": 832, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 833, "end_step": 882, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 897, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 939, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 940, "end_step": 987, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 988, "end_step": 1077, "id": 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"start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "goal", "start_step": 685, "end_step": 867, "id": "24255092-ed10-43ae-a6a3-26b3ba8a502b"}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 868, "end_step": 1053, "id": "dad8905b-7d0f-42bf-a1f7-6b4862386edc"}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": 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"end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 34}
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"start_step": 867, "end_step": 1053, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "goal", "start_step": 685, "end_step": 867, "id": "24255092-ed10-43ae-a6a3-26b3ba8a502b"}, {"label": "subtasks", "start_step": 1054, "end_step": 1095, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1128, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 868, "end_step": 1053, "id": "dad8905b-7d0f-42bf-a1f7-6b4862386edc"}, {"label": "subtasks", "start_step": 1129, "end_step": 1167, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1215, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 1054, "end_step": 1098, "id": "44e0865a-ac83-46b7-b9fd-c74fc7032dd5"}, {"label": "goal", "start_step": 1099, "end_step": 1134, "id": "8681dc15-55be-42b6-88e6-975867066179"}, {"label": "subtasks", "start_step": 1216, "end_step": 1305, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 1135, "end_step": 1176, "id": "1c7cb473-cb3a-4666-9183-3086c1303706"}, {"label": "goal", "start_step": 1177, "end_step": 1215, "id": "757a24b7-115a-43d4-888f-5a418774e1c1"}, {"label": "subtasks", "start_step": 1306, "end_step": 1329, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "goal", "start_step": 1216, "end_step": 1320, "id": "06f90dda-0616-44ac-9445-b97b2db8ce63"}, {"label": "goal", "start_step": 1321, "end_step": 1350, "id": "eb4e4f9c-435d-4998-8e8d-448aadf2a757"}, {"label": "home", "start_step": 1330, "end_step": 1390, "id": "ZhE4ZPqlJaXtK9lSHp3GN"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 199, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 406, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 407, "end_step": 583, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 584, "end_step": 686, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 687, "end_step": 783, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 866, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 867, "end_step": 1053, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1054, "end_step": 1095, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1128, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1167, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1215, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1216, "end_step": 1305, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1329, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 34, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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"fold", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 879, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 880, "end_step": 924, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1035, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1077, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 201, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: 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{"label": "subtasks", "start_step": 583, "end_step": 756, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 807, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 808, "end_step": 831, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 879, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 880, "end_step": 924, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1035, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1077, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 32, "v40_language_source": "previous_published_lerobot", "episode_index": 36}
 {"source_uid": "cbde0cb44cd59aae", "num_frames": 1286, "episode_id": "POC22027_2026_05_30_21_11_53_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_11_53_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_11_53_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_11_53_train/train_0.3.0@2026_05_30_21_11_53.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 630, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 696, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 942, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 943, "end_step": 978, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 979, "end_step": 999, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1056, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1057, "end_step": 1107, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1203, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1204, "end_step": 1248, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 309, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | 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[]}, {"label": "subtasks", "start_step": 697, "end_step": 942, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 943, "end_step": 978, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 979, "end_step": 999, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1056, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1057, "end_step": 1107, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1203, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1204, "end_step": 1248, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. 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@@ -46,12 +46,12 @@
 {"source_uid": "bfb863d9ea01ae7e", "num_frames": 1532, "episode_id": "POC22027_2026_05_30_21_19_19_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_19_19_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_19_19_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_19_19_train/train_0.3.0@2026_05_30_21_19_19.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 825, "end_step": 899, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 974, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 975, "end_step": 1179, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1180, "end_step": 1219, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1220, "end_step": 1259, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", 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 {"source_uid": "030d7f8cb41701db", "num_frames": 1331, "episode_id": "POC22027_2026_05_30_21_20_17_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_20_17_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_20_17_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_20_17_train/train_0.3.0@2026_05_30_21_20_17.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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1256, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1257, "end_step": 1311, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 42, "v40_language_source": "previous_published_lerobot", "episode_index": 46}
 {"source_uid": "04bba761e92f8772", "num_frames": 1141, "episode_id": "POC22027_2026_05_30_21_21_23_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_21_23_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_21_23_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_21_23_train/train_0.3.0@2026_05_30_21_21_23.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 540, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 612, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 804, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 840, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 852, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 853, "end_step": 894, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 942, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 943, "end_step": 1068, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1069, "end_step": 1122, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: 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{"label": "subtasks", "start_step": 613, "end_step": 804, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 840, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 852, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 853, "end_step": 894, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 942, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 943, "end_step": 1068, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1069, "end_step": 1122, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. 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"atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1301, "end_step": 1364, "id": "JfSUBFycO4xwtAk7iy8kh"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, 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They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 480, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 510, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 576, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 648, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 720, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 900, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 949, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 950, "end_step": 961, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 962, "end_step": 1003, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1004, "end_step": 1039, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1040, "end_step": 1141, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1142, "end_step": 1183, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 50, "v40_language_source": "previous_published_lerobot", "episode_index": 56}
@@ -62,7 +62,7 @@
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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 866, "end_step": 940, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 941, "end_step": 1065, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1066, "end_step": 1255, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1256, "end_step": 1380, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1381, "end_step": 1450, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1451, "end_step": 1505, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1506, "end_step": 1560, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1561, "end_step": 1635, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1636, "end_step": 1700, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 255, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 1066, "end_step": 1255, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1256, "end_step": 1380, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1381, "end_step": 1450, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1451, "end_step": 1505, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1506, "end_step": 1560, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", 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 {"source_uid": "f8628a2b167c5747", "num_frames": 1635, "episode_id": "POC22027_2026_05_30_21_35_01_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_35_01_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_35_01_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_35_01_train/train_0.3.0@2026_05_30_21_35_01.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1398, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1446, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1447, "end_step": 1560, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1561, "end_step": 1602, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 186, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1176, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1177, "end_step": 1308, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1309, "end_step": 1350, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1398, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1446, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 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 {"source_uid": "dfed6031f19971a3", "num_frames": 1621, "episode_id": "POC22027_2026_05_30_21_36_11_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_36_11_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_36_11_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_36_11_train/train_0.3.0@2026_05_30_21_36_11.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 900, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 972, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 973, "end_step": 1170, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1171, "end_step": 1242, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1356, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1357, "end_step": 1404, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1405, "end_step": 1452, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1453, "end_step": 1530, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1531, "end_step": 1590, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 264, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 973, "end_step": 1170, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1171, "end_step": 1242, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1356, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1357, "end_step": 1404, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1405, "end_step": 1452, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1453, "end_step": 1530, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1531, "end_step": 1590, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 57, "v40_language_source": "previous_published_lerobot", "episode_index": 63}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "goal", "start_step": 0, "end_step": 225, "id": "b80bbec7-0b6e-44d5-a11d-a239bcf925cc"}, {"label": "valid", "start_step": 0, "end_step": 816, "id": "tolqYBsDfvxwXhE59j2fp"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 817, "end_step": 856, "id": "P3mdngL_8yi-anbDvAr1k"}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box 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"atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 64}
+{"source_uid": "463e14dc19a3280c", "num_frames": 857, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 333, "end_step": 383, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 384, "end_step": 421, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 422, "end_step": 497, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 498, "end_step": 626, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 627, "end_step": 677, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 678, "end_step": 714, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 817, "end_step": 856, "id": "P3mdngL_8yi-anbDvAr1k"}, {"label": "subtasks", "start_step": 715, "end_step": 737, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 738, "end_step": 747, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 748, "end_step": 793, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 794, "end_step": 816, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "error", "start_step": 450, "end_step": 816, "id": "error-001", "note": "The box collapses during folding and is not closed."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 211, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 212, "end_step": 322, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 323, "end_step": 332, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 333, "end_step": 383, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 384, "end_step": 421, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 422, "end_step": 497, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 498, "end_step": 626, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 627, "end_step": 677, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 678, "end_step": 714, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 737, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 738, "end_step": 747, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 748, "end_step": 793, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 794, "end_step": 816, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 64, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "a873a2c1368c4813", "num_frames": 1557, "episode_id": "POC22027_2026_05_30_21_38_30_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_38_30_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_38_30_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_38_30_train/train_0.3.0@2026_05_30_21_38_30.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 210, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 600, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 681, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 819, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 912, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 990, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1184, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1185, "end_step": 1245, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1246, "end_step": 1275, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1276, "end_step": 1311, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1312, "end_step": 1371, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1482, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1483, "end_step": 1536, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 210, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1184, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1185, "end_step": 1245, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1246, "end_step": 1275, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1276, "end_step": 1311, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1312, "end_step": 1371, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1482, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1483, "end_step": 1536, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 58, "v40_language_source": "previous_published_lerobot", "episode_index": 65}
 {"source_uid": "6594b1d648a8678c", "num_frames": 1326, "episode_id": "POC22027_2026_05_30_21_39_29_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_39_29_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_39_29_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_39_29_train/train_0.3.0@2026_05_30_21_39_29.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 246, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 471, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 472, "end_step": 537, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 639, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 711, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 786, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 1008, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1009, "end_step": 1047, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1048, "end_step": 1065, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1066, "end_step": 1119, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1120, "end_step": 1152, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1153, "end_step": 1239, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1240, "end_step": 1293, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 246, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 471, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 472, "end_step": 537, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 639, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 711, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 786, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 1008, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1009, "end_step": 1047, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1048, "end_step": 1065, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1066, "end_step": 1119, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1120, "end_step": 1152, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1153, "end_step": 1239, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1240, "end_step": 1293, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 59, "v40_language_source": "previous_published_lerobot", "episode_index": 66}
 {"source_uid": "4e492320d73af8ef", "num_frames": 1248, "episode_id": "POC22027_2026_05_30_21_40_30_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_40_30_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_40_30_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_40_30_train/train_0.3.0@2026_05_30_21_40_30.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 228, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 417, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 418, "end_step": 477, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 528, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 603, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 705, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 912, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 957, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 958, "end_step": 969, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 970, "end_step": 1029, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1158, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1159, "end_step": 1218, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 228, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 417, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 418, "end_step": 477, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 528, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 603, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 705, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 912, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 957, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 958, "end_step": 969, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 970, "end_step": 1029, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1158, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1159, "end_step": 1218, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 60, "v40_language_source": "previous_published_lerobot", "episode_index": 67}
diff --git a/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotations.jsonl b/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotations.jsonl
index 2d892d908e388cb5a059d07b980e3ca7d6ed5b50..41c7a9234c7a553b734acf4841e0169d299229b0 100644
--- a/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotations.jsonl
+++ b/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotations.jsonl
@@ -5,7 +5,7 @@
 {"source_uid": "b3c7a3d59041edd6", "num_frames": 1832, "episode_id": "POC22027_2026_05_30_20_38_49_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_38_49_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_38_49_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_38_49_train/train_0.3.0@2026_05_30_20_38_49.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 354, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 756, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 809, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 810, "end_step": 923, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 924, "end_step": 1004, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1005, "end_step": 1100, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1101, "end_step": 1427, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1428, "end_step": 1482, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1483, "end_step": 1512, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1513, "end_step": 1557, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1558, "end_step": 1608, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1609, "end_step": 1740, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1741, "end_step": 1791, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 354, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 1101, "end_step": 1427, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1428, "end_step": 1482, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1483, "end_step": 1512, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1513, "end_step": 1557, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1558, "end_step": 1608, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1609, "end_step": 1740, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1741, "end_step": 1791, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. 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 {"source_uid": "ae36f1cbfd62764b", "num_frames": 1800, "episode_id": "POC22027_2026_05_30_20_40_01_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_40_01_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_40_01_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_40_01_train/train_0.3.0@2026_05_30_20_40_01.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 1041, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1128, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1314, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1315, "end_step": 1362, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1363, "end_step": 1436, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1437, "end_step": 1493, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1494, "end_step": 1529, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1530, "end_step": 1724, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1725, "end_step": 1757, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 225, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1314, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1315, "end_step": 1362, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1363, "end_step": 1436, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1437, "end_step": 1493, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1494, "end_step": 1529, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1530, "end_step": 1724, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1725, "end_step": 1757, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. 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 {"source_uid": "53d7e468d946b939", "num_frames": 1632, "episode_id": "POC22027_2026_05_30_20_41_18_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_41_18_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_41_18_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_41_18_train/train_0.3.0@2026_05_30_20_41_18.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 849, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 850, "end_step": 930, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 1119, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1120, "end_step": 1170, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1171, "end_step": 1242, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1296, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1297, "end_step": 1341, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1342, "end_step": 1536, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1537, "end_step": 1605, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 321, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 1119, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1120, "end_step": 1170, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1171, "end_step": 1242, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1296, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1297, "end_step": 1341, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1342, "end_step": 1536, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1537, "end_step": 1605, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. 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They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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 {"source_uid": "a3ccf9ca5e0e8325", "num_frames": 1684, "episode_id": "POC22027_2026_05_30_20_44_18_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_44_18_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_44_18_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_44_18_train/train_0.3.0@2026_05_30_20_44_18.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1056, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1057, "end_step": 1137, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1329, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1330, "end_step": 1368, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1369, "end_step": 1400, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1401, "end_step": 1439, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1440, "end_step": 1508, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1509, "end_step": 1595, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1596, "end_step": 1646, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 249, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1329, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1330, "end_step": 1368, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1369, "end_step": 1400, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1401, "end_step": 1439, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1440, "end_step": 1508, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", 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 {"source_uid": "8db4ccce9fa73a3e", "num_frames": 1249, "episode_id": "POC22027_2026_05_30_20_45_24_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_45_24_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_45_24_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_45_24_train/train_0.3.0@2026_05_30_20_45_24.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 485, "end_step": 562, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 649, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 650, "end_step": 883, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 884, "end_step": 925, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 926, "end_step": 954, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 996, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 997, "end_step": 1047, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1048, "end_step": 1164, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1165, "end_step": 1209, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 237, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: 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{"label": "subtasks", "start_step": 650, "end_step": 883, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 884, "end_step": 925, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 926, "end_step": 954, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 996, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 997, "end_step": 1047, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1048, "end_step": 1164, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1165, "end_step": 1209, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. 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@@ -20,8 +20,8 @@
 {"source_uid": "c219ad78630cb6da", "num_frames": 1601, "episode_id": "POC22027_2026_05_30_20_54_55_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_54_55_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_54_55_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_54_55_train/train_0.3.0@2026_05_30_20_54_55.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 1122, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1123, "end_step": 1293, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1294, "end_step": 1314, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1315, "end_step": 1368, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1369, "end_step": 1419, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1420, "end_step": 1524, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1525, "end_step": 1566, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 18, "v40_language_source": "previous_published_lerobot", "episode_index": 19}
 {"source_uid": "b03954500bbe01a8", "num_frames": 1279, "episode_id": "POC22027_2026_05_30_20_56_01_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_56_01_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_56_01_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_56_01_train/train_0.3.0@2026_05_30_20_56_01.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 542, "end_step": 625, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 626, "end_step": 702, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 888, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 936, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 966, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1022, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1023, "end_step": 1062, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1209, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1210, "end_step": 1251, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 210, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | 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1209, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1210, "end_step": 1251, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. 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{"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 562, "end_step": 741, "id": "5dbdf630-fca0-4e56-b87d-bd80baa20dcc"}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 742, "end_step": 786, "id": "fe5c9079-4cc7-45c5-81ab-15ea8df8dffb"}, {"label": "goal", "start_step": 787, "end_step": 814, "id": "0113e45f-f279-449a-b6d2-8d43dcdb6b33"}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": 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They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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"start_step": 1233, "end_step": 1259, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1260, "end_step": 1295, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1296, "end_step": 1379, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1380, "end_step": 1403, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 23, "timing_correction": "2026-10-16: subtask intervals re-timed. 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"atomic_action": []}, {"label": "subtasks", "start_step": 1141, "end_step": 1332, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1383, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1384, "end_step": 1455, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1456, "end_step": 1500, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1501, "end_step": 1545, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1546, "end_step": 1668, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1669, "end_step": 1716, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 22, "v40_language_source": "previous_published_lerobot", "episode_index": 25}
 {"source_uid": "6956035e1cd5d736", "num_frames": 1511, "episode_id": "POC22027_2026_05_30_21_02_15_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_02_15_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_02_15_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_02_15_train/train_0.3.0@2026_05_30_21_02_15.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 216, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 600, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 633, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 744, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 825, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 897, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 1095, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1137, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1173, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1174, "end_step": 1224, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1275, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1276, "end_step": 1401, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1402, "end_step": 1476, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 216, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 1095, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1137, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1173, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1174, "end_step": 1224, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1275, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1276, "end_step": 1401, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1402, "end_step": 1476, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 23, "v40_language_source": "previous_published_lerobot", "episode_index": 26}
@@ -32,7 +32,7 @@
 {"source_uid": "a9a9b20ee8b24e5a", "num_frames": 1612, "episode_id": "POC22027_2026_05_30_21_06_45_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_06_45_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_06_45_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_06_45_train/train_0.3.0@2026_05_30_21_06_45.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 900, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 966, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1237, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1282, "end_step": 1308, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", 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 {"source_uid": "65ac3888e499b597", "num_frames": 1399, "episode_id": "POC22027_2026_05_30_21_07_51_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_07_51_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_07_51_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_07_51_train/train_0.3.0@2026_05_30_21_07_51.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1034, "end_step": 1069, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1070, "end_step": 1120, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1121, "end_step": 1255, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1256, "end_step": 1351, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 201, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | 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1255, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1256, "end_step": 1351, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 29, "v40_language_source": "previous_published_lerobot", "episode_index": 32}
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{"label": "subtasks", "start_step": 646, "end_step": 832, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 833, "end_step": 882, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 897, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 939, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 940, "end_step": 987, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 988, "end_step": 1077, "id": 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"end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 34}
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1129, "end_step": 1167, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1215, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1216, "end_step": 1305, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1329, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 34, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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 {"source_uid": "cbde0cb44cd59aae", "num_frames": 1286, "episode_id": "POC22027_2026_05_30_21_11_53_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_11_53_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_11_53_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_11_53_train/train_0.3.0@2026_05_30_21_11_53.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 630, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 696, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 942, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 943, "end_step": 978, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 979, "end_step": 999, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1056, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1057, "end_step": 1107, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1203, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1204, "end_step": 1248, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 309, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | 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[]}, {"label": "subtasks", "start_step": 697, "end_step": 942, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 943, "end_step": 978, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 979, "end_step": 999, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1056, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1057, "end_step": 1107, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1203, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1204, "end_step": 1248, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. 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@@ -46,12 +46,12 @@
 {"source_uid": "bfb863d9ea01ae7e", "num_frames": 1532, "episode_id": "POC22027_2026_05_30_21_19_19_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_19_19_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_19_19_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_19_19_train/train_0.3.0@2026_05_30_21_19_19.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 825, "end_step": 899, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 974, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 975, "end_step": 1179, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1180, "end_step": 1219, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1220, "end_step": 1259, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", 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 {"source_uid": "030d7f8cb41701db", "num_frames": 1331, "episode_id": "POC22027_2026_05_30_21_20_17_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_20_17_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_20_17_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_20_17_train/train_0.3.0@2026_05_30_21_20_17.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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1256, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1257, "end_step": 1311, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 42, "v40_language_source": "previous_published_lerobot", "episode_index": 46}
 {"source_uid": "04bba761e92f8772", "num_frames": 1141, "episode_id": "POC22027_2026_05_30_21_21_23_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_21_23_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_21_23_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_21_23_train/train_0.3.0@2026_05_30_21_21_23.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 475, "end_step": 540, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 612, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 804, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 840, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 852, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 853, "end_step": 894, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 942, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 943, "end_step": 1068, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1069, "end_step": 1122, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: 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{"label": "subtasks", "start_step": 613, "end_step": 804, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 840, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 852, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 853, "end_step": 894, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 942, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 943, "end_step": 1068, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1069, "end_step": 1122, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. 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"atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1301, "end_step": 1364, "id": "JfSUBFycO4xwtAk7iy8kh"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, 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They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 480, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 510, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 576, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 648, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 720, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 900, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 949, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 950, "end_step": 961, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 962, "end_step": 1003, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1004, "end_step": 1039, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1040, "end_step": 1141, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1142, "end_step": 1183, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 50, "v40_language_source": "previous_published_lerobot", "episode_index": 56}
@@ -62,7 +62,7 @@
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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 866, "end_step": 940, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 941, "end_step": 1065, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1066, "end_step": 1255, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1256, "end_step": 1380, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1381, "end_step": 1450, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1451, "end_step": 1505, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1506, "end_step": 1560, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1561, "end_step": 1635, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1636, "end_step": 1700, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 255, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 1066, "end_step": 1255, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1256, "end_step": 1380, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1381, "end_step": 1450, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1451, "end_step": 1505, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1506, "end_step": 1560, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", 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 {"source_uid": "f8628a2b167c5747", "num_frames": 1635, "episode_id": "POC22027_2026_05_30_21_35_01_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_35_01_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_35_01_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_35_01_train/train_0.3.0@2026_05_30_21_35_01.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1398, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1446, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1447, "end_step": 1560, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1561, "end_step": 1602, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 186, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1176, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1177, "end_step": 1308, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1309, "end_step": 1350, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1398, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1446, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 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 {"source_uid": "dfed6031f19971a3", "num_frames": 1621, "episode_id": "POC22027_2026_05_30_21_36_11_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_36_11_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_36_11_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_36_11_train/train_0.3.0@2026_05_30_21_36_11.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 900, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 972, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 973, "end_step": 1170, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1171, "end_step": 1242, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1356, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1357, "end_step": 1404, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1405, "end_step": 1452, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1453, "end_step": 1530, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1531, "end_step": 1590, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 264, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 973, "end_step": 1170, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1171, "end_step": 1242, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1356, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1357, "end_step": 1404, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1405, "end_step": 1452, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1453, "end_step": 1530, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1531, "end_step": 1590, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 57, "v40_language_source": "previous_published_lerobot", "episode_index": 63}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "goal", "start_step": 0, "end_step": 225, "id": "b80bbec7-0b6e-44d5-a11d-a239bcf925cc"}, {"label": "valid", "start_step": 0, "end_step": 816, "id": "tolqYBsDfvxwXhE59j2fp"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 817, "end_step": 856, "id": "P3mdngL_8yi-anbDvAr1k"}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box 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"atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 64}
+{"source_uid": "463e14dc19a3280c", "num_frames": 857, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 333, "end_step": 383, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 384, "end_step": 421, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 422, "end_step": 497, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 498, "end_step": 626, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 627, "end_step": 677, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 678, "end_step": 714, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 817, "end_step": 856, "id": "P3mdngL_8yi-anbDvAr1k"}, {"label": "subtasks", "start_step": 715, "end_step": 737, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 738, "end_step": 747, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 748, "end_step": 793, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 794, "end_step": 816, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "error", "start_step": 450, "end_step": 816, "id": "error-001", "note": "The box collapses during folding and is not closed."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 211, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 212, "end_step": 322, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 323, "end_step": 332, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 333, "end_step": 383, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 384, "end_step": 421, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 422, "end_step": 497, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 498, "end_step": 626, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 627, "end_step": 677, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 678, "end_step": 714, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 737, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 738, "end_step": 747, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 748, "end_step": 793, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 794, "end_step": 816, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 64, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "a873a2c1368c4813", "num_frames": 1557, "episode_id": "POC22027_2026_05_30_21_38_30_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_38_30_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_38_30_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_38_30_train/train_0.3.0@2026_05_30_21_38_30.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 210, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 600, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 681, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 819, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 912, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 990, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1184, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1185, "end_step": 1245, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1246, "end_step": 1275, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1276, "end_step": 1311, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1312, "end_step": 1371, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1482, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1483, "end_step": 1536, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 210, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1184, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1185, "end_step": 1245, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1246, "end_step": 1275, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1276, "end_step": 1311, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1312, "end_step": 1371, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1482, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1483, "end_step": 1536, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 58, "v40_language_source": "previous_published_lerobot", "episode_index": 65}
 {"source_uid": "6594b1d648a8678c", "num_frames": 1326, "episode_id": "POC22027_2026_05_30_21_39_29_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_39_29_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_39_29_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_39_29_train/train_0.3.0@2026_05_30_21_39_29.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 246, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 471, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 472, "end_step": 537, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 639, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 711, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 786, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 1008, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1009, "end_step": 1047, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1048, "end_step": 1065, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1066, "end_step": 1119, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1120, "end_step": 1152, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1153, "end_step": 1239, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1240, "end_step": 1293, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 246, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 1008, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1009, "end_step": 1047, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1048, "end_step": 1065, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1066, "end_step": 1119, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1120, "end_step": 1152, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1153, "end_step": 1239, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1240, "end_step": 1293, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 59, "v40_language_source": "previous_published_lerobot", "episode_index": 66}
 {"source_uid": "4e492320d73af8ef", "num_frames": 1248, "episode_id": "POC22027_2026_05_30_21_40_30_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_40_30_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_40_30_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_40_30_train/train_0.3.0@2026_05_30_21_40_30.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 603, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 705, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 912, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 957, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 958, "end_step": 969, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 970, "end_step": 1029, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1158, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1159, "end_step": 1218, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 228, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 417, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 418, "end_step": 477, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 528, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 603, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 705, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 912, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 957, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 958, "end_step": 969, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 970, "end_step": 1029, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1158, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1159, "end_step": 1218, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 60, "v40_language_source": "previous_published_lerobot", "episode_index": 67}
diff --git a/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/episodes_stats.jsonl b/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/episodes_stats.jsonl
index 97f9efe8f5106ff663b472f10adf17fcea9efa3d..bd56b0ea18bc3f6c1964f454320ba0dda67120e2 100644
--- a/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/episodes_stats.jsonl
+++ b/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -5,7 +5,7 @@
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"atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1314, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1315, "end_step": 1362, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1363, "end_step": 1436, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1437, "end_step": 1493, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1494, "end_step": 1529, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1530, "end_step": 1724, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1725, "end_step": 1757, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 5, "v40_language_source": "previous_published_lerobot", "episode_index": 5}
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"end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 7}
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1210, "end_step": 1254, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1255, "end_step": 1300, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1301, "end_step": 1384, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1385, "end_step": 1408, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 7, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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"start_step": 1509, "end_step": 1595, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1596, "end_step": 1646, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. 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 {"source_uid": "8db4ccce9fa73a3e", "num_frames": 1249, "episode_id": "POC22027_2026_05_30_20_45_24_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_45_24_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_45_24_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_45_24_train/train_0.3.0@2026_05_30_20_45_24.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 485, "end_step": 562, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 649, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 650, "end_step": 883, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 884, "end_step": 925, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 926, "end_step": 954, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 996, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 997, "end_step": 1047, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1048, "end_step": 1164, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1165, "end_step": 1209, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 237, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: 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{"label": "subtasks", "start_step": 650, "end_step": 883, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 884, "end_step": 925, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 926, "end_step": 954, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 996, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 997, "end_step": 1047, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1048, "end_step": 1164, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1165, "end_step": 1209, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. 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@@ -20,8 +20,8 @@
 {"source_uid": "c219ad78630cb6da", "num_frames": 1601, "episode_id": "POC22027_2026_05_30_20_54_55_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_54_55_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_54_55_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_54_55_train/train_0.3.0@2026_05_30_20_54_55.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 711, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 783, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 1122, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1123, "end_step": 1293, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1294, "end_step": 1314, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", 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 {"source_uid": "b03954500bbe01a8", "num_frames": 1279, "episode_id": "POC22027_2026_05_30_20_56_01_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_56_01_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_56_01_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_56_01_train/train_0.3.0@2026_05_30_20_56_01.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"fold", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1022, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1023, "end_step": 1062, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1209, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1210, "end_step": 1251, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 210, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | 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[]}, {"label": "subtasks", "start_step": 703, "end_step": 888, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 936, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 966, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1022, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1023, "end_step": 1062, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1209, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1210, "end_step": 1251, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 19, "v40_language_source": "previous_published_lerobot", "episode_index": 20}
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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 560, "end_step": 631, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 632, "end_step": 721, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 722, "end_step": 982, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 983, "end_step": 1027, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1028, "end_step": 1078, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": 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{"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 562, "end_step": 741, "id": "5dbdf630-fca0-4e56-b87d-bd80baa20dcc"}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 742, "end_step": 786, "id": "fe5c9079-4cc7-45c5-81ab-15ea8df8dffb"}, {"label": "goal", "start_step": 787, "end_step": 814, "id": "0113e45f-f279-449a-b6d2-8d43dcdb6b33"}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": 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"task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 22}
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They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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"task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1456, "end_step": 1500, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1501, "end_step": 1545, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1546, "end_step": 1668, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1669, "end_step": 1716, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 1141, "end_step": 1332, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1383, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1384, "end_step": 1455, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1456, "end_step": 1500, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1501, "end_step": 1545, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1546, "end_step": 1668, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1669, "end_step": 1716, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. 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"atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 1095, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1137, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1173, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1174, "end_step": 1224, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1275, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1276, "end_step": 1401, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1402, "end_step": 1476, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 23, "v40_language_source": "previous_published_lerobot", "episode_index": 26}
@@ -32,7 +32,7 @@
 {"source_uid": "a9a9b20ee8b24e5a", "num_frames": 1612, "episode_id": "POC22027_2026_05_30_21_06_45_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_06_45_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_06_45_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_06_45_train/train_0.3.0@2026_05_30_21_06_45.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 900, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 966, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1237, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1282, "end_step": 1308, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1309, "end_step": 1356, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1357, "end_step": 1407, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1408, "end_step": 1527, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1528, "end_step": 1572, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1237, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1282, "end_step": 1308, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1309, "end_step": 1356, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1357, "end_step": 1407, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 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 {"source_uid": "f055fce0a76d9f4b", "num_frames": 1157, "episode_id": "POC22027_2026_05_30_21_08_46_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_08_46_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_08_46_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_08_46_train/train_0.3.0@2026_05_30_21_08_46.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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1129, "end_step": 1167, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1215, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1216, "end_step": 1305, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1329, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 34, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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{"label": "subtasks", "start_step": 598, "end_step": 768, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 813, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 814, "end_step": 837, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 838, "end_step": 879, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 880, "end_step": 921, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 922, "end_step": 1044, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1045, "end_step": 1086, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 31, "v40_language_source": "previous_published_lerobot", "episode_index": 35}
 {"source_uid": "db6052481aff7de6", "num_frames": 1114, "episode_id": "POC22027_2026_05_30_21_11_10_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_11_10_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_11_10_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_11_10_train/train_0.3.0@2026_05_30_21_11_10.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 513, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 582, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 756, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 807, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 808, "end_step": 831, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 879, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 880, "end_step": 924, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1035, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1077, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 201, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: 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{"label": "subtasks", "start_step": 583, "end_step": 756, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 807, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 808, "end_step": 831, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 879, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 880, "end_step": 924, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1035, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1077, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. 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 {"source_uid": "cbde0cb44cd59aae", "num_frames": 1286, "episode_id": "POC22027_2026_05_30_21_11_53_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_11_53_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_11_53_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_11_53_train/train_0.3.0@2026_05_30_21_11_53.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 630, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 696, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 942, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 943, "end_step": 978, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 979, "end_step": 999, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1056, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1057, "end_step": 1107, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1203, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1204, "end_step": 1248, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 309, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 310, "end_step": 492, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 513, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 558, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 630, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 696, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 942, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 943, "end_step": 978, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 979, "end_step": 999, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1056, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1057, "end_step": 1107, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1203, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1204, "end_step": 1248, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 33, "v40_language_source": "previous_published_lerobot", "episode_index": 37}
@@ -46,12 +46,12 @@
 {"source_uid": "bfb863d9ea01ae7e", "num_frames": 1532, "episode_id": "POC22027_2026_05_30_21_19_19_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_19_19_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_19_19_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_19_19_train/train_0.3.0@2026_05_30_21_19_19.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 825, "end_step": 899, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 974, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 975, "end_step": 1179, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1180, "end_step": 1219, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1220, "end_step": 1259, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1290, "end_step": 1349, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1350, "end_step": 1464, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1465, "end_step": 1504, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 975, "end_step": 1179, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1180, "end_step": 1219, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1220, "end_step": 1259, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1290, "end_step": 1349, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 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"atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1301, "end_step": 1364, "id": "JfSUBFycO4xwtAk7iy8kh"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, 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+{"source_uid": "0d02732030a621dc", "num_frames": 1365, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. 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"atomic_action": []}, {"label": "subtasks", "start_step": 1277, "end_step": 1300, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 1301, "end_step": 1364, "id": "JfSUBFycO4xwtAk7iy8kh"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 183, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 184, "end_step": 407, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 408, "end_step": 626, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 627, "end_step": 697, 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"task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1095, "end_step": 1136, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1137, "end_step": 1175, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1176, "end_step": 1276, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1277, "end_step": 1300, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 48, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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"fold", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 840, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 900, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 972, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 973, "end_step": 1020, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: 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{"label": "subtasks", "start_step": 559, "end_step": 726, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 768, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 786, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 840, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 900, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 972, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 973, "end_step": 1020, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 49, "v40_language_source": "previous_published_lerobot", "episode_index": 55}
 {"source_uid": "34845dbd7733c36a", "num_frames": 1220, "episode_id": "POC22027_2026_05_30_21_28_43_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_28_43_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_28_43_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_28_43_train/train_0.3.0@2026_05_30_21_28_43.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 648, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 720, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 900, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 949, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 950, "end_step": 961, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 962, "end_step": 1003, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1004, "end_step": 1039, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1040, "end_step": 1141, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1142, "end_step": 1183, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 312, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | 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[]}, {"label": "subtasks", "start_step": 721, "end_step": 900, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 949, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 950, "end_step": 961, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 962, "end_step": 1003, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1004, "end_step": 1039, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1040, "end_step": 1141, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1142, "end_step": 1183, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 50, "v40_language_source": "previous_published_lerobot", "episode_index": 56}
@@ -62,7 +62,7 @@
 {"source_uid": "e8cec733018bc0d4", "num_frames": 1726, "episode_id": "POC22027_2026_05_30_21_33_57_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_33_57_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_33_57_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_33_57_train/train_0.3.0@2026_05_30_21_33_57.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 866, "end_step": 940, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 941, "end_step": 1065, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1066, "end_step": 1255, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1256, "end_step": 1380, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1381, "end_step": 1450, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1451, "end_step": 1505, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1506, "end_step": 1560, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1561, "end_step": 1635, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1636, "end_step": 1700, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 255, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 1066, "end_step": 1255, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1256, "end_step": 1380, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1381, "end_step": 1450, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1451, "end_step": 1505, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1506, "end_step": 1560, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1561, "end_step": 1635, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1636, "end_step": 1700, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. 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 {"source_uid": "f8628a2b167c5747", "num_frames": 1635, "episode_id": "POC22027_2026_05_30_21_35_01_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_35_01_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_35_01_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_35_01_train/train_0.3.0@2026_05_30_21_35_01.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 822, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 936, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1176, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1177, "end_step": 1308, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1309, "end_step": 1350, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1398, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1446, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1447, "end_step": 1560, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1561, "end_step": 1602, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 186, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1176, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1177, "end_step": 1308, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1309, "end_step": 1350, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1398, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1446, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1447, "end_step": 1560, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1561, "end_step": 1602, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 56, "v40_language_source": "previous_published_lerobot", "episode_index": 62}
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The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 264, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 576, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 618, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 828, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 900, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 972, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 973, "end_step": 1170, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1171, "end_step": 1242, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1356, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1357, "end_step": 1404, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1405, "end_step": 1452, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1453, "end_step": 1530, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1531, "end_step": 1590, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 264, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 973, "end_step": 1170, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1171, "end_step": 1242, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1356, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1357, "end_step": 1404, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1405, "end_step": 1452, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1453, "end_step": 1530, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1531, "end_step": 1590, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 57, "v40_language_source": "previous_published_lerobot", "episode_index": 63}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 817, "end_step": 856, "id": "P3mdngL_8yi-anbDvAr1k"}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box 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"atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 64}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 333, "end_step": 383, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 384, "end_step": 421, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 422, "end_step": 497, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 498, "end_step": 626, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 627, "end_step": 677, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 678, "end_step": 714, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 817, "end_step": 856, "id": "P3mdngL_8yi-anbDvAr1k"}, {"label": "subtasks", "start_step": 715, "end_step": 737, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 738, "end_step": 747, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 748, "end_step": 793, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 794, "end_step": 816, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "error", "start_step": 450, "end_step": 816, "id": "error-001", "note": "The box collapses during folding and is not closed."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 211, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 212, "end_step": 322, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 323, "end_step": 332, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 333, "end_step": 383, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", 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"end_step": 737, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 738, "end_step": 747, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 748, "end_step": 793, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 794, "end_step": 816, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 64, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 228, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 417, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 418, "end_step": 477, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 528, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 603, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 705, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 912, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 957, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 958, "end_step": 969, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 970, "end_step": 1029, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1158, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1159, "end_step": 1218, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 228, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 417, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 418, "end_step": 477, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 528, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 603, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 705, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 912, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 957, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 958, "end_step": 969, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 970, "end_step": 1029, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1158, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1159, "end_step": 1218, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 60, "v40_language_source": "previous_published_lerobot", "episode_index": 67}
diff --git a/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v3.0/meta/annotations.jsonl b/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v3.0/meta/annotations.jsonl
index 2d892d908e388cb5a059d07b980e3ca7d6ed5b50..41c7a9234c7a553b734acf4841e0169d299229b0 100644
--- a/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v3.0/meta/annotations.jsonl
+++ b/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v3.0/meta/annotations.jsonl
@@ -5,7 +5,7 @@
 {"source_uid": "b3c7a3d59041edd6", "num_frames": 1832, "episode_id": "POC22027_2026_05_30_20_38_49_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_38_49_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_38_49_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_38_49_train/train_0.3.0@2026_05_30_20_38_49.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 354, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 756, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 809, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 810, "end_step": 923, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 924, "end_step": 1004, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1005, "end_step": 1100, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1101, "end_step": 1427, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1428, "end_step": 1482, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1483, "end_step": 1512, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1513, "end_step": 1557, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1558, "end_step": 1608, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1609, "end_step": 1740, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1741, "end_step": 1791, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 354, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 756, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 809, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 810, "end_step": 923, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 924, "end_step": 1004, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1005, "end_step": 1100, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1101, "end_step": 1427, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1428, "end_step": 1482, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1483, "end_step": 1512, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1513, "end_step": 1557, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1558, "end_step": 1608, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1609, "end_step": 1740, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1741, "end_step": 1791, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 4, "v40_language_source": "previous_published_lerobot", "episode_index": 4}
 {"source_uid": "ae36f1cbfd62764b", "num_frames": 1800, "episode_id": "POC22027_2026_05_30_20_40_01_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_40_01_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_40_01_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_40_01_train/train_0.3.0@2026_05_30_20_40_01.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 225, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 226, "end_step": 633, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 795, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 954, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 1041, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1128, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1314, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1315, "end_step": 1362, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1363, "end_step": 1436, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1437, "end_step": 1493, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1494, "end_step": 1529, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1530, "end_step": 1724, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1725, "end_step": 1757, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 225, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 226, "end_step": 633, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 795, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 954, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 1041, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1128, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1314, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1315, "end_step": 1362, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1363, "end_step": 1436, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1437, "end_step": 1493, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1494, "end_step": 1529, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1530, "end_step": 1724, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1725, "end_step": 1757, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 5, "v40_language_source": "previous_published_lerobot", "episode_index": 5}
 {"source_uid": "53d7e468d946b939", "num_frames": 1632, "episode_id": "POC22027_2026_05_30_20_41_18_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_41_18_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_41_18_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_41_18_train/train_0.3.0@2026_05_30_20_41_18.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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{"label": "subtasks", "start_step": 650, "end_step": 883, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 884, "end_step": 925, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 926, "end_step": 954, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 996, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 997, "end_step": 1047, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1048, "end_step": 1164, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1165, "end_step": 1209, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 10}
@@ -20,8 +20,8 @@
 {"source_uid": "c219ad78630cb6da", "num_frames": 1601, "episode_id": "POC22027_2026_05_30_20_54_55_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_54_55_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_54_55_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_20_54_55_train/train_0.3.0@2026_05_30_20_54_55.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 711, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 783, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 1122, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1123, "end_step": 1293, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1294, "end_step": 1314, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", 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"atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 1122, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1123, "end_step": 1293, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1294, "end_step": 1314, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1315, "end_step": 1368, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1369, "end_step": 1419, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 560, "end_step": 631, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 632, "end_step": 721, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 722, "end_step": 982, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 983, "end_step": 1027, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1028, "end_step": 1078, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1079, "end_step": 1126, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1127, "end_step": 1201, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1202, "end_step": 1297, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1298, "end_step": 1336, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 381, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 382, "end_step": 439, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 440, "end_step": 559, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 560, "end_step": 631, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 632, "end_step": 721, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 722, "end_step": 982, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 983, "end_step": 1027, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1028, "end_step": 1078, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1079, "end_step": 1126, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1127, "end_step": 1201, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1202, "end_step": 1297, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1298, "end_step": 1336, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 20, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "goal", "start_step": 0, "end_step": 174, "id": "3414af85-d7e8-4b9e-8076-1ccb37d912b8"}, {"label": "valid", "start_step": 0, "end_step": 1039, "id": "tON6C9SX-jy9VtRx8yHBb"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "goal", "start_step": 175, "end_step": 306, "id": "1b38c279-ac25-475b-a27e-2f0794980a07"}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 307, "end_step": 348, "id": "bbfaeff6-2def-40ae-b627-2aca11e3ecf9"}, {"label": "goal", "start_step": 349, "end_step": 402, "id": "98aed405-ecba-4279-ae90-3083fe1f91bb"}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 403, "end_step": 480, "id": "5b5f19fb-e353-403b-b0d6-6a3997b2993b"}, {"label": "goal", "start_step": 481, "end_step": 561, "id": "e8c06744-a7da-4d4f-97db-0070e5654679"}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 562, "end_step": 741, "id": "5dbdf630-fca0-4e56-b87d-bd80baa20dcc"}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 742, "end_step": 786, "id": "fe5c9079-4cc7-45c5-81ab-15ea8df8dffb"}, {"label": "goal", "start_step": 787, "end_step": 814, "id": "0113e45f-f279-449a-b6d2-8d43dcdb6b33"}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 815, "end_step": 859, "id": "5e1c551d-83d1-4086-98a9-92a767fbff6d"}, {"label": "goal", "start_step": 860, "end_step": 904, "id": "66a26b06-46a7-4be4-80ea-3ae069224201"}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "goal", "start_step": 905, "end_step": 1015, "id": "91e19b68-91e1-495a-b510-315ecb445a4c"}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 1016, "end_step": 1060, "id": "f056284c-c897-4286-8f7b-9d4fd65cd121"}, {"label": "home", "start_step": 1040, "end_step": 1090, "id": "oybtXo0i42HfP09H9uCQx"}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 22}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "goal", "start_step": 0, "end_step": 237, "id": "002571fa-4b6e-40e9-95bd-511dd15229f6"}, {"label": "valid", "start_step": 0, "end_step": 1403, "id": "qg-8wmaUqR3NMZ3-MrQnJ"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 238, "end_step": 630, "id": "1e0ee222-5604-4266-b830-19e6c2868def"}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "goal", "start_step": 631, "end_step": 675, "id": "ec441f0e-0784-4a6a-8e35-fe676558ab05"}, {"label": "goal", "start_step": 676, "end_step": 756, "id": "fbf33080-3154-49ee-a3ac-1a78e178564a"}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 757, "end_step": 840, "id": "238fbf2c-820b-4030-8071-40fba2a2c876"}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 841, "end_step": 920, "id": "272b3862-debb-4ae3-bd43-bc64db77113b"}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "goal", "start_step": 921, "end_step": 1121, "id": "2c6f031a-ebb5-499b-a2fb-d68aa356b1fe"}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 1122, "end_step": 1169, "id": "c3df89be-2537-44c3-ae8d-719b981866c6"}, {"label": "goal", "start_step": 1170, "end_step": 1277, "id": "ff9ada97-b503-40d9-b43f-36064ec9b295"}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "goal", "start_step": 1278, "end_step": 1320, "id": "56970a1c-3867-4e03-a49d-797f7660b3aa"}, {"label": "goal", "start_step": 1321, "end_step": 1364, "id": "639bb63a-4a97-4aab-8bc7-46dd3a5c29f6"}, {"label": "goal", "start_step": 1365, "end_step": 1421, "id": "1a7ff6b9-7e74-48a1-9a71-19841d919ed0"}, {"label": "home", "start_step": 1404, "end_step": 1444, "id": "NE41YdYZQlm6iCKjcmcBx"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 23}
+{"source_uid": "79871b773ad25ce9", "num_frames": 1091, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"1b38c279-ac25-475b-a27e-2f0794980a07"}, {"label": "subtasks", "start_step": 315, "end_step": 350, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 351, "end_step": 404, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 307, "end_step": 348, "id": "bbfaeff6-2def-40ae-b627-2aca11e3ecf9"}, {"label": "goal", "start_step": 349, "end_step": 402, "id": "98aed405-ecba-4279-ae90-3083fe1f91bb"}, {"label": "subtasks", "start_step": 405, "end_step": 480, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 403, "end_step": 480, "id": "5b5f19fb-e353-403b-b0d6-6a3997b2993b"}, {"label": "goal", "start_step": 481, "end_step": 561, "id": "e8c06744-a7da-4d4f-97db-0070e5654679"}, {"label": "subtasks", "start_step": 481, "end_step": 556, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 562, "end_step": 741, "id": "5dbdf630-fca0-4e56-b87d-bd80baa20dcc"}, {"label": "subtasks", "start_step": 557, "end_step": 737, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 738, "end_step": 786, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 742, "end_step": 786, "id": "fe5c9079-4cc7-45c5-81ab-15ea8df8dffb"}, {"label": "goal", "start_step": 787, "end_step": 814, "id": "0113e45f-f279-449a-b6d2-8d43dcdb6b33"}, {"label": "subtasks", "start_step": 787, "end_step": 815, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 815, "end_step": 859, "id": "5e1c551d-83d1-4086-98a9-92a767fbff6d"}, {"label": "goal", "start_step": 860, "end_step": 904, "id": "66a26b06-46a7-4be4-80ea-3ae069224201"}, {"label": "subtasks", "start_step": 816, "end_step": 861, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "goal", "start_step": 905, "end_step": 1015, "id": "91e19b68-91e1-495a-b510-315ecb445a4c"}, {"label": "subtasks", "start_step": 862, "end_step": 909, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 1016, "end_step": 1060, "id": "f056284c-c897-4286-8f7b-9d4fd65cd121"}, {"label": "home", "start_step": 1040, "end_step": 1090, "id": "oybtXo0i42HfP09H9uCQx"}, {"label": "subtasks", "start_step": 910, "end_step": 1014, "id": "subtask-012", 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"end_step": 404, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 405, "end_step": 480, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 556, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 737, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 738, "end_step": 786, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 815, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: 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They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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675, "id": "ec441f0e-0784-4a6a-8e35-fe676558ab05"}, {"label": "goal", "start_step": 676, "end_step": 756, "id": "fbf33080-3154-49ee-a3ac-1a78e178564a"}, {"label": "subtasks", "start_step": 1112, "end_step": 1173, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 757, "end_step": 840, "id": "238fbf2c-820b-4030-8071-40fba2a2c876"}, {"label": "subtasks", "start_step": 1174, "end_step": 1232, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "goal", "start_step": 841, "end_step": 920, "id": "272b3862-debb-4ae3-bd43-bc64db77113b"}, {"label": "subtasks", "start_step": 1233, "end_step": 1259, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "goal", "start_step": 921, "end_step": 1121, "id": 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"start_step": 1233, "end_step": 1259, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1260, "end_step": 1295, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1296, "end_step": 1379, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1380, "end_step": 1403, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 23, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 442, "end_step": 513, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 576, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 744, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 795, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 834, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": 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{"label": "subtasks", "start_step": 577, "end_step": 744, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 795, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 834, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 897, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 936, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1077, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1119, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 21, "v40_language_source": "previous_published_lerobot", "episode_index": 24}
 {"source_uid": "81f779085a040ac8", "num_frames": 1755, "episode_id": "POC22027_2026_05_30_21_00_57_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_00_57_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_00_57_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_00_57_train/train_0.3.0@2026_05_30_21_00_57.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 849, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 850, "end_step": 912, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 993, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 994, "end_step": 1065, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1066, "end_step": 1140, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1141, "end_step": 1332, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1383, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1384, "end_step": 1455, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1456, "end_step": 1500, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1501, "end_step": 1545, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1546, "end_step": 1668, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1669, "end_step": 1716, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 1141, "end_step": 1332, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1383, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1384, "end_step": 1455, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1456, "end_step": 1500, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1501, "end_step": 1545, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1546, "end_step": 1668, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1669, "end_step": 1716, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. 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 {"source_uid": "6956035e1cd5d736", "num_frames": 1511, "episode_id": "POC22027_2026_05_30_21_02_15_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_02_15_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_02_15_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_02_15_train/train_0.3.0@2026_05_30_21_02_15.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 825, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 897, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 1095, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1137, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1173, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1174, "end_step": 1224, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1275, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1276, "end_step": 1401, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1402, "end_step": 1476, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 216, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 1095, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1137, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1173, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1174, "end_step": 1224, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1275, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1276, "end_step": 1401, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1402, "end_step": 1476, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 23, "v40_language_source": "previous_published_lerobot", "episode_index": 26}
@@ -32,7 +32,7 @@
 {"source_uid": "a9a9b20ee8b24e5a", "num_frames": 1612, "episode_id": "POC22027_2026_05_30_21_06_45_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_06_45_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_06_45_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_06_45_train/train_0.3.0@2026_05_30_21_06_45.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 900, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 966, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1237, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1282, "end_step": 1308, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", 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They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 513, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 582, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 756, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 807, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 808, "end_step": 831, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 879, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 880, "end_step": 924, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1035, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1077, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 201, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: 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{"label": "subtasks", "start_step": 583, "end_step": 756, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 807, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 808, "end_step": 831, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 879, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 880, "end_step": 924, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1035, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1077, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. 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 {"source_uid": "cbde0cb44cd59aae", "num_frames": 1286, "episode_id": "POC22027_2026_05_30_21_11_53_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_11_53_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_11_53_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_11_53_train/train_0.3.0@2026_05_30_21_11_53.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 630, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 696, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 942, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 943, "end_step": 978, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 979, "end_step": 999, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1056, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1057, "end_step": 1107, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1203, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1204, "end_step": 1248, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 309, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 310, "end_step": 492, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 493, "end_step": 513, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 558, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 630, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 696, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 942, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 943, "end_step": 978, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 979, "end_step": 999, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1056, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1057, "end_step": 1107, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1203, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1204, "end_step": 1248, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 33, "v40_language_source": "previous_published_lerobot", "episode_index": 37}
@@ -46,12 +46,12 @@
 {"source_uid": "bfb863d9ea01ae7e", "num_frames": 1532, "episode_id": "POC22027_2026_05_30_21_19_19_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_19_19_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_19_19_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_19_19_train/train_0.3.0@2026_05_30_21_19_19.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 825, "end_step": 899, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 900, "end_step": 974, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 975, "end_step": 1179, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1180, "end_step": 1219, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1220, "end_step": 1259, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1290, "end_step": 1349, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1350, "end_step": 1464, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1465, "end_step": 1504, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 975, "end_step": 1179, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1180, "end_step": 1219, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1220, "end_step": 1259, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1290, "end_step": 1349, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1350, "end_step": 1464, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1465, "end_step": 1504, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. 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They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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 {"source_uid": "34845dbd7733c36a", "num_frames": 1220, "episode_id": "POC22027_2026_05_30_21_28_43_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_28_43_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_28_43_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_28_43_train/train_0.3.0@2026_05_30_21_28_43.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 648, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 720, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 900, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 949, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 950, "end_step": 961, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 962, "end_step": 1003, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1004, "end_step": 1039, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1040, "end_step": 1141, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1142, "end_step": 1183, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 312, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | 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[]}, {"label": "subtasks", "start_step": 721, "end_step": 900, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 949, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 950, "end_step": 961, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 962, "end_step": 1003, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1004, "end_step": 1039, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1040, "end_step": 1141, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1142, "end_step": 1183, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. 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@@ -62,7 +62,7 @@
 {"source_uid": "e8cec733018bc0d4", "num_frames": 1726, "episode_id": "POC22027_2026_05_30_21_33_57_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_33_57_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_33_57_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_33_57_train/train_0.3.0@2026_05_30_21_33_57.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 866, "end_step": 940, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 941, "end_step": 1065, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1066, "end_step": 1255, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1256, "end_step": 1380, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1381, "end_step": 1450, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", 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 {"source_uid": "f8628a2b167c5747", "num_frames": 1635, "episode_id": "POC22027_2026_05_30_21_35_01_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_35_01_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_35_01_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_35_01_train/train_0.3.0@2026_05_30_21_35_01.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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"atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1176, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1177, "end_step": 1308, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1309, "end_step": 1350, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1398, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1446, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1447, "end_step": 1560, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1561, "end_step": 1602, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 56, "v40_language_source": "previous_published_lerobot", "episode_index": 62}
 {"source_uid": "dfed6031f19971a3", "num_frames": 1621, "episode_id": "POC22027_2026_05_30_21_36_11_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_36_11_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_36_11_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_30_20_33_04_train/POC22027_2026_05_30_21_36_11_train/train_0.3.0@2026_05_30_21_36_11.hdf5", "tags": {"task_name": "Fold Flat Box into Closed Box", "task_instruction": "Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. 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The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 264, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 576, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 618, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 828, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 900, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 972, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 973, "end_step": 1170, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1171, "end_step": 1242, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1356, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1357, "end_step": 1404, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1405, "end_step": 1452, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1453, "end_step": 1530, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1531, "end_step": 1590, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 264, "id": "subtask-001", "text": "Pick up the flat box from the table with both 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"atomic_action": []}, {"label": "subtasks", "start_step": 973, "end_step": 1170, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1171, "end_step": 1242, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1356, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1357, "end_step": 1404, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1405, "end_step": 1452, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1453, "end_step": 1530, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1531, "end_step": 1590, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 57, "v40_language_source": "previous_published_lerobot", "episode_index": 63}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table.", "success_criteria": "The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "goal", "start_step": 0, "end_step": 225, "id": "b80bbec7-0b6e-44d5-a11d-a239bcf925cc"}, {"label": "valid", "start_step": 0, "end_step": 816, "id": "tolqYBsDfvxwXhE59j2fp"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 299, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 300, "end_step": 399, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-005", "text": "Fold the third inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 500, "end_step": 599, "id": "subtask-006", "text": "Fold the fourth inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 600, "end_step": 699, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 700, "end_step": 799, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 800, "end_step": 899, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 817, "end_step": 856, "id": "P3mdngL_8yi-anbDvAr1k"}, {"label": "subtasks", "start_step": 900, "end_step": 999, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box 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"atomic_action": []}, {"label": "subtasks", "start_step": 1000, "end_step": 1099, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1199, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1200, "end_step": 1299, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 64}
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Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table.", "scene_description": "A flat folded paper box is placed on the table. 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"fold", "atomic_action": []}, {"label": "subtasks", "start_step": 678, "end_step": 714, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "home", "start_step": 817, "end_step": 856, "id": "P3mdngL_8yi-anbDvAr1k"}, {"label": "subtasks", "start_step": 715, "end_step": 737, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 738, "end_step": 747, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 748, "end_step": 793, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 794, "end_step": 816, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "error", "start_step": 450, "end_step": 816, "id": "error-001", "note": "The box collapses during folding and is not closed."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 211, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 212, "end_step": 322, "id": "subtask-002", "text": "Open the flat box into a three-dimensional box shape with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 323, "end_step": 332, "id": "subtask-003", "text": "Fold the first inner flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 333, "end_step": 383, "id": "subtask-004", "text": "Fold the second inner flap inward. | Skill: fold", 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They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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"fold", "atomic_action": []}, {"label": "subtasks", "start_step": 970, "end_step": 1029, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1158, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1159, "end_step": 1218, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 228, "id": "subtask-001", "text": "Pick up the flat box from the table with both hands. | 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[]}, {"label": "subtasks", "start_step": 706, "end_step": 912, "id": "subtask-007", "text": "Flip the box over with both hands. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 957, "id": "subtask-008", "text": "Fold the left side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 958, "end_step": 969, "id": "subtask-009", "text": "Fold the right side flap inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 970, "end_step": 1029, "id": "subtask-010", "text": "Stabilize the box with the right hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-011", "text": "Fold the top flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1158, "id": "subtask-012", "text": "Fold the bottom flap inward with the left hand. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1159, "end_step": 1218, "id": "subtask-013", "text": "Place the folded box stably on the table with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Fold Flat Box into Closed Box | Instruction: Pick up the flat box with both hands. Open the flat box into a three-dimensional shape. Fold the four inner flaps inward. Flip the box over. Then fold the left and right flaps first. While the right hand stabilizes the box, fold the top flap and then fold the bottom flap with the left hand. Finally, place the folded box stably on the table. | Scene: A flat folded paper box is placed on the table. The robot needs to open it, shape it into a box, fold the flaps in sequence, flip it over, close the remaining flaps, and leave the finished box on the table. | Success: The flat box is fully folded into a stable closed box shape and remains stably placed on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_30_20_33_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 60, "v40_language_source": "previous_published_lerobot", "episode_index": 67}
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 {"source_uid": "ae4505dcb99a7f8e", "num_frames": 1515, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup.", "scene_description": "Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower.", "success_criteria": "All cups are nested in the correct order and form a stable stacked tower on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 261, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 414, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 564, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 741, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 888, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 1116, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1117, "end_step": 1326, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 261, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 414, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 564, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 741, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 888, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 1116, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1117, "end_step": 1326, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Nested_Cup_Stacking/season_POC22054_2026_05_23_16_02_34_train/POC22054_2026_05_23_17_33_54_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/nest_cups/season_POC22054_2026_05_23_16_02_34_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 49, "v40_language_source": "previous_published_lerobot", "episode_index": 49}
 {"source_uid": "38c04b62add0bf50", "num_frames": 1517, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup.", "scene_description": "Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower.", "success_criteria": "All cups are nested in the correct order and form a stable stacked tower on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 177, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 178, "end_step": 366, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 534, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 666, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 831, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 981, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 982, "end_step": 1137, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1338, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 177, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 178, "end_step": 366, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 534, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 666, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 831, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 981, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 982, "end_step": 1137, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1338, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Nested_Cup_Stacking/season_POC22054_2026_05_23_16_02_34_train/POC22054_2026_05_23_17_35_02_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/nest_cups/season_POC22054_2026_05_23_16_02_34_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 50, "v40_language_source": "previous_published_lerobot", "episode_index": 50}
 {"source_uid": "da805fdf75a8f8ab", "num_frames": 1438, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup.", "scene_description": "Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower.", "success_criteria": "All cups are nested in the correct order and form a stable stacked tower on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 330, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 477, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 648, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 789, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 918, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 1086, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1257, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 330, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 477, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 648, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 789, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 918, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 1086, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1257, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Nested_Cup_Stacking/season_POC22054_2026_05_23_16_02_34_train/POC22054_2026_05_23_17_36_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/nest_cups/season_POC22054_2026_05_23_16_02_34_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 51, "v40_language_source": "previous_published_lerobot", "episode_index": 51}
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They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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 {"source_uid": "eac2f3ba151d36ed", "num_frames": 1786, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. 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The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower.", "success_criteria": "All cups are nested in the correct order and form a stable stacked tower on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 303, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 444, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 591, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 768, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 1002, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 1003, "end_step": 1140, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1141, "end_step": 1542, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 303, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 444, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 591, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 768, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 1002, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 1003, "end_step": 1140, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1141, "end_step": 1542, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Nested_Cup_Stacking/season_POC22054_2026_05_23_16_02_34_train/POC22054_2026_05_23_17_42_57_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/nest_cups/season_POC22054_2026_05_23_16_02_34_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 54, "v40_language_source": "previous_published_lerobot", "episode_index": 55}
diff --git a/nest_cups/season_POC22054_2026_05_23_16_02_34_train/lerobot_v2.1/meta/annotations.jsonl b/nest_cups/season_POC22054_2026_05_23_16_02_34_train/lerobot_v2.1/meta/annotations.jsonl
index cc69ed3132994c87418518c8b6660584e2c666b2..b289fbe86e83fa815a0b82d81e5ac10b83eb4861 100644
--- a/nest_cups/season_POC22054_2026_05_23_16_02_34_train/lerobot_v2.1/meta/annotations.jsonl
+++ b/nest_cups/season_POC22054_2026_05_23_16_02_34_train/lerobot_v2.1/meta/annotations.jsonl
@@ -50,7 +50,7 @@
 {"source_uid": "ae4505dcb99a7f8e", "num_frames": 1515, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup.", "scene_description": "Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower.", "success_criteria": "All cups are nested in the correct order and form a stable stacked tower on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 261, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 414, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 564, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 741, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 888, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 1116, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1117, "end_step": 1326, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 261, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 414, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 564, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 741, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 888, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 1116, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1117, "end_step": 1326, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Nested_Cup_Stacking/season_POC22054_2026_05_23_16_02_34_train/POC22054_2026_05_23_17_33_54_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/nest_cups/season_POC22054_2026_05_23_16_02_34_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 49, "v40_language_source": "previous_published_lerobot", "episode_index": 49}
 {"source_uid": "38c04b62add0bf50", "num_frames": 1517, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. 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 {"source_uid": "da805fdf75a8f8ab", "num_frames": 1438, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. 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They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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 {"source_uid": "eac2f3ba151d36ed", "num_frames": 1786, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. 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The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower.", "success_criteria": "All cups are nested in the correct order and form a stable stacked tower on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 303, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 444, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 591, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 768, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 1002, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 1003, "end_step": 1140, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1141, "end_step": 1542, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 303, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 444, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 591, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 768, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 1002, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 1003, "end_step": 1140, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1141, "end_step": 1542, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Nested_Cup_Stacking/season_POC22054_2026_05_23_16_02_34_train/POC22054_2026_05_23_17_42_57_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/nest_cups/season_POC22054_2026_05_23_16_02_34_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 54, "v40_language_source": "previous_published_lerobot", "episode_index": 55}
diff --git a/nest_cups/season_POC22054_2026_05_23_16_02_34_train/lerobot_v2.1/meta/episodes_stats.jsonl b/nest_cups/season_POC22054_2026_05_23_16_02_34_train/lerobot_v2.1/meta/episodes_stats.jsonl
index cd7eeb51d21413f4a7ab6494dcf558d4c0e22670..9c7b4424b2548dc6454f937f94891897752d4dfa 100644
--- a/nest_cups/season_POC22054_2026_05_23_16_02_34_train/lerobot_v2.1/meta/episodes_stats.jsonl
+++ b/nest_cups/season_POC22054_2026_05_23_16_02_34_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -50,7 +50,7 @@
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diff --git a/nest_cups/season_POC22054_2026_05_23_16_02_34_train/lerobot_v3.0/meta/annotation_cache.jsonl b/nest_cups/season_POC22054_2026_05_23_16_02_34_train/lerobot_v3.0/meta/annotation_cache.jsonl
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+++ b/nest_cups/season_POC22054_2026_05_23_16_02_34_train/lerobot_v3.0/meta/annotation_cache.jsonl
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 {"source_uid": "ae4505dcb99a7f8e", "num_frames": 1515, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup.", "scene_description": "Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower.", "success_criteria": "All cups are nested in the correct order and form a stable stacked tower on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 261, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 414, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 564, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 741, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 888, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 1116, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1117, "end_step": 1326, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 261, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 414, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 564, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 741, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 888, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 1116, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1117, "end_step": 1326, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Nested_Cup_Stacking/season_POC22054_2026_05_23_16_02_34_train/POC22054_2026_05_23_17_33_54_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/nest_cups/season_POC22054_2026_05_23_16_02_34_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 49, "v40_language_source": "previous_published_lerobot", "episode_index": 49}
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They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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 {"source_uid": "df2e6a8b124d3d1c", "num_frames": 2136, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup.", "scene_description": "Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower.", "success_criteria": "All cups are nested in the correct order and form a stable stacked tower on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 213, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 214, "end_step": 369, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 528, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 675, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 676, "end_step": 867, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 868, "end_step": 1434, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 1435, "end_step": 1644, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1645, "end_step": 1911, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 213, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 214, "end_step": 369, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 528, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 675, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 676, "end_step": 867, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 868, "end_step": 1434, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 1435, "end_step": 1644, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1645, "end_step": 1911, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Nested_Cup_Stacking/season_POC22054_2026_05_23_16_02_34_train/POC22054_2026_05_23_17_40_58_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/nest_cups/season_POC22054_2026_05_23_16_02_34_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 53, "v40_language_source": "previous_published_lerobot", "episode_index": 54}
 {"source_uid": "eac2f3ba151d36ed", "num_frames": 1786, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup.", "scene_description": "Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower.", "success_criteria": "All cups are nested in the correct order and form a stable stacked tower on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 303, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 444, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 591, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 768, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 1002, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 1003, "end_step": 1140, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1141, "end_step": 1542, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 303, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 444, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 445, "end_step": 591, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 768, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 1002, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 1003, "end_step": 1140, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1141, "end_step": 1542, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Nested_Cup_Stacking/season_POC22054_2026_05_23_16_02_34_train/POC22054_2026_05_23_17_42_57_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/nest_cups/season_POC22054_2026_05_23_16_02_34_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 54, "v40_language_source": "previous_published_lerobot", "episode_index": 55}
diff --git a/nest_cups/season_POC22054_2026_05_23_16_02_34_train/lerobot_v3.0/meta/annotations.jsonl b/nest_cups/season_POC22054_2026_05_23_16_02_34_train/lerobot_v3.0/meta/annotations.jsonl
index cc69ed3132994c87418518c8b6660584e2c666b2..b289fbe86e83fa815a0b82d81e5ac10b83eb4861 100644
--- a/nest_cups/season_POC22054_2026_05_23_16_02_34_train/lerobot_v3.0/meta/annotations.jsonl
+++ b/nest_cups/season_POC22054_2026_05_23_16_02_34_train/lerobot_v3.0/meta/annotations.jsonl
@@ -50,7 +50,7 @@
 {"source_uid": "ae4505dcb99a7f8e", "num_frames": 1515, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup.", "scene_description": "Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower.", "success_criteria": "All cups are nested in the correct order and form a stable stacked tower on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 261, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 414, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 564, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 741, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 888, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 1116, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1117, "end_step": 1326, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 144, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 145, "end_step": 261, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 414, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 564, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 741, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 888, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 1116, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1117, "end_step": 1326, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Nested_Cup_Stacking/season_POC22054_2026_05_23_16_02_34_train/POC22054_2026_05_23_17_33_54_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/nest_cups/season_POC22054_2026_05_23_16_02_34_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 49, "v40_language_source": "previous_published_lerobot", "episode_index": 49}
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They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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 {"source_uid": "f227a3da0c746e17", "num_frames": 2216, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. 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They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "b39aa2626fdfeed7", "num_frames": 1782, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. 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 {"source_uid": "bef51e3aa3829319", "num_frames": 1528, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. 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 {"source_uid": "ceae35148e6b4aae", "num_frames": 1925, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. 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diff --git a/nest_cups/season_POC22061_2026_05_23_21_18_34_train/lerobot_v2.1/meta/annotations.jsonl b/nest_cups/season_POC22061_2026_05_23_21_18_34_train/lerobot_v2.1/meta/annotations.jsonl
index 77d87750db6e8538066bdafe3508bb2bc5cf5f8a..679a420e122cd9a3507db32c8ecdfa2e602c3de0 100644
--- a/nest_cups/season_POC22061_2026_05_23_21_18_34_train/lerobot_v2.1/meta/annotations.jsonl
+++ b/nest_cups/season_POC22061_2026_05_23_21_18_34_train/lerobot_v2.1/meta/annotations.jsonl
@@ -1,7 +1,7 @@
 {"source_uid": "f227a3da0c746e17", "num_frames": 2216, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. 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They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
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 {"source_uid": "bef51e3aa3829319", "num_frames": 1528, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. 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 {"source_uid": "ceae35148e6b4aae", "num_frames": 1925, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. 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diff --git a/nest_cups/season_POC22061_2026_05_23_21_18_34_train/lerobot_v2.1/meta/episodes_stats.jsonl b/nest_cups/season_POC22061_2026_05_23_21_18_34_train/lerobot_v2.1/meta/episodes_stats.jsonl
index c198e5b713836c3bfb21973f5fbe50e6f32285ea..d3c4f53c5bbd71e3e1e3c16dde02672e91264a38 100644
--- a/nest_cups/season_POC22061_2026_05_23_21_18_34_train/lerobot_v2.1/meta/episodes_stats.jsonl
+++ b/nest_cups/season_POC22061_2026_05_23_21_18_34_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -1,7 +1,7 @@
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 {"source_uid": "f227a3da0c746e17", "num_frames": 2216, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. 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The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower.", "success_criteria": "All cups are nested in the correct order and form a stable stacked tower on the table.", "score": "B", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 94, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 616, "id": "wq6jaKAyutrMOsfnsn3ZZ"}, {"label": "subtasks", "start_step": 95, "end_step": 104, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 195, "end_step": 362, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 363, "end_step": 495, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 496, "end_step": 529, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 530, "end_step": 559, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "home", "start_step": 617, "end_step": 765, "id": "TomuBB4stIbLn54jT3h2e"}, {"label": "subtasks", "start_step": 560, "end_step": 616, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "error", "start_step": 550, "end_step": 616, "id": "error-001", "note": "The fourth cup is dropped and rolls away; it is never nested."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 94, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 95, "end_step": 104, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 195, "end_step": 362, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 363, "end_step": 495, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 496, "end_step": 529, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 530, "end_step": 559, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 560, "end_step": 616, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "episode_index": 3, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "b39aa2626fdfeed7", "num_frames": 1782, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. 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The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower.", "success_criteria": "All cups are nested in the correct order and form a stable stacked tower on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 306, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 447, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 448, "end_step": 612, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 744, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 975, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 976, "end_step": 1332, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1608, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 306, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 447, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 448, "end_step": 612, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 744, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 975, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 976, "end_step": 1332, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1608, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Nested_Cup_Stacking/season_POC22061_2026_05_23_21_18_34_train/POC22061_2026_05_23_21_24_50_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/nest_cups/season_POC22061_2026_05_23_21_18_34_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 3, "v40_language_source": "previous_published_lerobot", "episode_index": 4}
 {"source_uid": "bef51e3aa3829319", "num_frames": 1528, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. 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The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower.", "success_criteria": "All cups are nested in the correct order and form a stable stacked tower on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 351, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 352, "end_step": 459, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 612, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 741, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 906, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1095, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1347, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 351, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 352, "end_step": 459, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 460, "end_step": 612, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 741, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 906, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1095, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1347, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Nested_Cup_Stacking/season_POC22061_2026_05_23_21_18_34_train/POC22061_2026_05_23_21_25_53_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/nest_cups/season_POC22061_2026_05_23_21_18_34_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 4, "v40_language_source": "previous_published_lerobot", "episode_index": 5}
 {"source_uid": "ceae35148e6b4aae", "num_frames": 1925, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup.", "scene_description": "Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower.", "success_criteria": "All cups are nested in the correct order and form a stable stacked tower on the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 147, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 148, "end_step": 318, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 465, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 466, "end_step": 651, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 652, "end_step": 789, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 1161, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 1162, "end_step": 1332, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1740, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 147, "id": "subtask-001", "text": "Pick up the first cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 148, "end_step": 318, "id": "subtask-002", "text": "Insert the first cup onto the base cup. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 465, "id": "subtask-003", "text": "Pick up the second cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 466, "end_step": 651, "id": "subtask-004", "text": "Insert the second cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 652, "end_step": 789, "id": "subtask-005", "text": "Pick up the third cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 1161, "id": "subtask-006", "text": "Insert the third cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 1162, "end_step": 1332, "id": "subtask-007", "text": "Pick up the fourth cup from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1740, "id": "subtask-008", "text": "Insert the fourth cup onto the stacked cups. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Nested_Cup_Stacking/season_POC22061_2026_05_23_21_18_34_train/POC22061_2026_05_23_21_26_53_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/nest_cups/season_POC22061_2026_05_23_21_18_34_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 5, "v40_language_source": "previous_published_lerobot", "episode_index": 6}
diff --git a/nest_cups/season_POC22061_2026_05_23_21_18_34_train/lerobot_v3.0/meta/annotations.jsonl b/nest_cups/season_POC22061_2026_05_23_21_18_34_train/lerobot_v3.0/meta/annotations.jsonl
index 77d87750db6e8538066bdafe3508bb2bc5cf5f8a..679a420e122cd9a3507db32c8ecdfa2e602c3de0 100644
--- a/nest_cups/season_POC22061_2026_05_23_21_18_34_train/lerobot_v3.0/meta/annotations.jsonl
+++ b/nest_cups/season_POC22061_2026_05_23_21_18_34_train/lerobot_v3.0/meta/annotations.jsonl
@@ -1,7 +1,7 @@
 {"source_uid": "f227a3da0c746e17", "num_frames": 2216, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup.", "scene_description": "Several nesting cups are placed separately on the table, with one base cup already standing on the table. 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They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "b39aa2626fdfeed7", "num_frames": 1782, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. 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 {"source_uid": "bef51e3aa3829319", "num_frames": 1528, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. 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 {"source_uid": "ceae35148e6b4aae", "num_frames": 1925, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Nested Cup Stacking | Instruction: Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. Next, pick up the third cup and stack it onto the second stacked cup. Finally, pick up the fourth cup and stack it onto the third stacked cup. | Scene: Several nesting cups are placed separately on the table, with one base cup already standing on the table. The robot needs to pick up the remaining cups one by one and stack them in order to form a nested tower. | Success: All cups are nested in the correct order and form a stable stacked tower on the table.", "tags": {"task_name": "Nested Cup Stacking", "task_instruction": "Pick up the first cup and stack it onto the base cup. Then pick up the second cup and stack it onto the first stacked cup. 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+++ b/relocate_tennis_ball/season_POC22018_2026_05_29_11_16_12_train/lerobot_v2.1/meta/annotation_cache.jsonl
@@ -364,7 +364,7 @@
 {"source_uid": "3dab2136ff5c6c78", "num_frames": 360, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Pick and Place Tennis Ball | Instruction: Pick up the tennis ball and place it on the other side. | Scene: A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table. | Success: The tennis ball is successfully picked up and placed stably on the other side of the table.", "tags": {"task_name": "Pick and Place Tennis Ball", "task_instruction": "Pick up the tennis ball and place it on the other side.", "scene_description": "A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table.", "success_criteria": "The tennis ball is successfully picked up and placed stably on the other side of the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 227, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 228, "end_step": 288, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 227, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 228, "end_step": 288, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pick_and_Place_Tennis_Ball/season_POC22018_2026_05_29_11_16_12_train/POC22018_2026_05_29_19_52_01_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/relocate_tennis_ball/season_POC22018_2026_05_29_11_16_12_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 415, "v40_language_source": "previous_published_lerobot", "episode_index": 363}
 {"source_uid": "e9c3768b1ea043bd", "num_frames": 403, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Pick and Place Tennis Ball | Instruction: Pick up the tennis ball and place it on the other side. | Scene: A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table. | Success: The tennis ball is successfully picked up and placed stably on the other side of the table.", "tags": {"task_name": "Pick and Place Tennis Ball", "task_instruction": "Pick up the tennis ball and place it on the other side.", "scene_description": "A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table.", "success_criteria": "The tennis ball is successfully picked up and placed stably on the other side of the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 272, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 273, "end_step": 323, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 272, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 273, "end_step": 323, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pick_and_Place_Tennis_Ball/season_POC22018_2026_05_29_11_16_12_train/POC22018_2026_05_29_19_52_17_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/relocate_tennis_ball/season_POC22018_2026_05_29_11_16_12_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 416, "v40_language_source": "previous_published_lerobot", "episode_index": 364}
 {"source_uid": "5bb15b270b4a78eb", "num_frames": 368, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Pick and Place Tennis Ball | Instruction: Pick up the tennis ball and place it on the other side. | Scene: A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table. | Success: The tennis ball is successfully picked up and placed stably on the other side of the table.", "tags": {"task_name": "Pick and Place Tennis Ball", "task_instruction": "Pick up the tennis ball and place it on the other side.", "scene_description": "A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table.", "success_criteria": "The tennis ball is successfully picked up and placed stably on the other side of the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 221, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 222, "end_step": 296, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 221, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 222, "end_step": 296, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pick_and_Place_Tennis_Ball/season_POC22018_2026_05_29_11_16_12_train/POC22018_2026_05_29_19_52_51_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/relocate_tennis_ball/season_POC22018_2026_05_29_11_16_12_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 417, "v40_language_source": "previous_published_lerobot", "episode_index": 365}
-{"source_uid": "0448d15f6279bf58", "num_frames": 424, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Pick and Place Tennis Ball | Instruction: Pick up the tennis ball and place it on the other side. | Scene: A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table. | Success: The tennis ball is successfully picked up and placed stably on the other side of the table.", "tags": {"task_name": "Pick and Place Tennis Ball", "task_instruction": "Pick up the tennis ball and place it on the other side.", "scene_description": "A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table.", "success_criteria": "The tennis ball is successfully picked up and placed stably on the other side of the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pick_and_Place_Tennis_Ball/season_POC22018_2026_05_29_11_16_12_train/POC22018_2026_05_29_19_53_24_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/relocate_tennis_ball/season_POC22018_2026_05_29_11_16_12_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 418, "v40_language_source": "previous_published_lerobot", "episode_index": 366}
+{"source_uid": "0448d15f6279bf58", "num_frames": 424, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Pick and Place Tennis Ball | Instruction: Pick up the tennis ball and place it on the other side. | Scene: A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table. | Success: The tennis ball is successfully picked up and placed stably on the other side of the table.", "tags": {"task_name": "Pick and Place Tennis Ball", "task_instruction": "Pick up the tennis ball and place it on the other side.", "scene_description": "A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table.", "success_criteria": "The tennis ball is successfully picked up and placed stably on the other side of the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 282, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 342, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 282, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 342, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pick_and_Place_Tennis_Ball/season_POC22018_2026_05_29_11_16_12_train/POC22018_2026_05_29_19_53_24_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/relocate_tennis_ball/season_POC22018_2026_05_29_11_16_12_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 418, "v40_language_source": "previous_published_lerobot", "episode_index": 366, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "f61a404099724b57", "num_frames": 335, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Pick and Place Tennis Ball | Instruction: Pick up the tennis ball and place it on the other side. | Scene: A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table. | Success: The tennis ball is successfully picked up and placed stably on the other side of the table.", "tags": {"task_name": "Pick and Place Tennis Ball", "task_instruction": "Pick up the tennis ball and place it on the other side.", "scene_description": "A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table.", "success_criteria": "The tennis ball is successfully picked up and placed stably on the other side of the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 199, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 264, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 199, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 264, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pick_and_Place_Tennis_Ball/season_POC22018_2026_05_29_11_16_12_train/POC22018_2026_05_29_19_53_59_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/relocate_tennis_ball/season_POC22018_2026_05_29_11_16_12_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 419, "v40_language_source": "previous_published_lerobot", "episode_index": 367}
 {"source_uid": "84e012fbe0276aa5", "num_frames": 377, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Pick and Place Tennis Ball | Instruction: Pick up the tennis ball and place it on the other side. | Scene: A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table. | Success: The tennis ball is successfully picked up and placed stably on the other side of the table.", "tags": {"task_name": "Pick and Place Tennis Ball", "task_instruction": "Pick up the tennis ball and place it on the other side.", "scene_description": "A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table.", "success_criteria": "The tennis ball is successfully picked up and placed stably on the other side of the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 240, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 302, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 240, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 302, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pick_and_Place_Tennis_Ball/season_POC22018_2026_05_29_11_16_12_train/POC22018_2026_05_29_19_54_17_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/relocate_tennis_ball/season_POC22018_2026_05_29_11_16_12_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 420, "v40_language_source": "previous_published_lerobot", "episode_index": 368}
 {"source_uid": "0fcedfe56fcb19fc", "num_frames": 318, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Pick and Place Tennis Ball | Instruction: Pick up the tennis ball and place it on the other side. | Scene: A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table. | Success: The tennis ball is successfully picked up and placed stably on the other side of the table.", "tags": {"task_name": "Pick and Place Tennis Ball", "task_instruction": "Pick up the tennis ball and place it on the other side.", "scene_description": "A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table.", "success_criteria": "The tennis ball is successfully picked up and placed stably on the other side of the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 193, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 194, "end_step": 252, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 193, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 194, "end_step": 252, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pick_and_Place_Tennis_Ball/season_POC22018_2026_05_29_11_16_12_train/POC22018_2026_05_29_19_55_34_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/relocate_tennis_ball/season_POC22018_2026_05_29_11_16_12_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 421, "v40_language_source": "previous_published_lerobot", "episode_index": 369}
diff --git a/relocate_tennis_ball/season_POC22018_2026_05_29_11_16_12_train/lerobot_v2.1/meta/annotations.jsonl b/relocate_tennis_ball/season_POC22018_2026_05_29_11_16_12_train/lerobot_v2.1/meta/annotations.jsonl
index b717fe0ab6c7d07e14205160e127324f5cc81c49..77ea754efebae1f1c7eeaf58fc6953b3ab36c573 100644
--- a/relocate_tennis_ball/season_POC22018_2026_05_29_11_16_12_train/lerobot_v2.1/meta/annotations.jsonl
+++ b/relocate_tennis_ball/season_POC22018_2026_05_29_11_16_12_train/lerobot_v2.1/meta/annotations.jsonl
@@ -364,7 +364,7 @@
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 {"source_uid": "e9c3768b1ea043bd", "num_frames": 403, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Pick and Place Tennis Ball | Instruction: Pick up the tennis ball and place it on the other side. | Scene: A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table. | Success: The tennis ball is successfully picked up and placed stably on the other side of the table.", "tags": {"task_name": "Pick and Place Tennis Ball", "task_instruction": "Pick up the tennis ball and place it on the other side.", "scene_description": "A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table.", "success_criteria": "The tennis ball is successfully picked up and placed stably on the other side of the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 272, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 273, "end_step": 323, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 272, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 273, "end_step": 323, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pick_and_Place_Tennis_Ball/season_POC22018_2026_05_29_11_16_12_train/POC22018_2026_05_29_19_52_17_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/relocate_tennis_ball/season_POC22018_2026_05_29_11_16_12_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 416, "v40_language_source": "previous_published_lerobot", "episode_index": 364}
 {"source_uid": "5bb15b270b4a78eb", "num_frames": 368, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Pick and Place Tennis Ball | Instruction: Pick up the tennis ball and place it on the other side. | Scene: A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table. | Success: The tennis ball is successfully picked up and placed stably on the other side of the table.", "tags": {"task_name": "Pick and Place Tennis Ball", "task_instruction": "Pick up the tennis ball and place it on the other side.", "scene_description": "A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table.", "success_criteria": "The tennis ball is successfully picked up and placed stably on the other side of the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 221, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 222, "end_step": 296, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 221, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 222, "end_step": 296, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pick_and_Place_Tennis_Ball/season_POC22018_2026_05_29_11_16_12_train/POC22018_2026_05_29_19_52_51_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/relocate_tennis_ball/season_POC22018_2026_05_29_11_16_12_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 417, "v40_language_source": "previous_published_lerobot", "episode_index": 365}
-{"source_uid": "0448d15f6279bf58", "num_frames": 424, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Pick and Place Tennis Ball | Instruction: Pick up the tennis ball and place it on the other side. | Scene: A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table. | Success: The tennis ball is successfully picked up and placed stably on the other side of the table.", "tags": {"task_name": "Pick and Place Tennis Ball", "task_instruction": "Pick up the tennis ball and place it on the other side.", "scene_description": "A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table.", "success_criteria": "The tennis ball is successfully picked up and placed stably on the other side of the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pick_and_Place_Tennis_Ball/season_POC22018_2026_05_29_11_16_12_train/POC22018_2026_05_29_19_53_24_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/relocate_tennis_ball/season_POC22018_2026_05_29_11_16_12_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 418, "v40_language_source": "previous_published_lerobot", "episode_index": 366}
+{"source_uid": "0448d15f6279bf58", "num_frames": 424, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Pick and Place Tennis Ball | Instruction: Pick up the tennis ball and place it on the other side. | Scene: A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table. | Success: The tennis ball is successfully picked up and placed stably on the other side of the table.", "tags": {"task_name": "Pick and Place Tennis Ball", "task_instruction": "Pick up the tennis ball and place it on the other side.", "scene_description": "A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table.", "success_criteria": "The tennis ball is successfully picked up and placed stably on the other side of the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 282, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 342, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 282, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 342, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pick_and_Place_Tennis_Ball/season_POC22018_2026_05_29_11_16_12_train/POC22018_2026_05_29_19_53_24_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/relocate_tennis_ball/season_POC22018_2026_05_29_11_16_12_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 418, "v40_language_source": "previous_published_lerobot", "episode_index": 366, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
 {"source_uid": "f61a404099724b57", "num_frames": 335, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Pick and Place Tennis Ball | Instruction: Pick up the tennis ball and place it on the other side. | Scene: A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table. | Success: The tennis ball is successfully picked up and placed stably on the other side of the table.", "tags": {"task_name": "Pick and Place Tennis Ball", "task_instruction": "Pick up the tennis ball and place it on the other side.", "scene_description": "A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table.", "success_criteria": "The tennis ball is successfully picked up and placed stably on the other side of the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 199, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 264, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 199, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 264, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pick_and_Place_Tennis_Ball/season_POC22018_2026_05_29_11_16_12_train/POC22018_2026_05_29_19_53_59_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/relocate_tennis_ball/season_POC22018_2026_05_29_11_16_12_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 419, "v40_language_source": "previous_published_lerobot", "episode_index": 367}
 {"source_uid": "84e012fbe0276aa5", "num_frames": 377, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Pick and Place Tennis Ball | Instruction: Pick up the tennis ball and place it on the other side. | Scene: A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table. | Success: The tennis ball is successfully picked up and placed stably on the other side of the table.", "tags": {"task_name": "Pick and Place Tennis Ball", "task_instruction": "Pick up the tennis ball and place it on the other side.", "scene_description": "A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table.", "success_criteria": "The tennis ball is successfully picked up and placed stably on the other side of the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 240, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 302, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 240, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 302, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pick_and_Place_Tennis_Ball/season_POC22018_2026_05_29_11_16_12_train/POC22018_2026_05_29_19_54_17_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/relocate_tennis_ball/season_POC22018_2026_05_29_11_16_12_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 420, "v40_language_source": "previous_published_lerobot", "episode_index": 368}
 {"source_uid": "0fcedfe56fcb19fc", "num_frames": 318, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Pick and Place Tennis Ball | Instruction: Pick up the tennis ball and place it on the other side. | Scene: A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table. | Success: The tennis ball is successfully picked up and placed stably on the other side of the table.", "tags": {"task_name": "Pick and Place Tennis Ball", "task_instruction": "Pick up the tennis ball and place it on the other side.", "scene_description": "A tennis ball is placed on one side of the table. The robot needs to pick it up and move it to the other side of the table.", "success_criteria": "The tennis ball is successfully picked up and placed stably on the other side of the table.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 193, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 194, "end_step": 252, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 193, "id": "subtask-001", "text": "Pick up the tennis ball from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 194, "end_step": 252, "id": "subtask-002", "text": "Place the tennis ball on the other side of the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pick_and_Place_Tennis_Ball/season_POC22018_2026_05_29_11_16_12_train/POC22018_2026_05_29_19_55_34_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/relocate_tennis_ball/season_POC22018_2026_05_29_11_16_12_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 421, "v40_language_source": "previous_published_lerobot", "episode_index": 369}
diff --git a/relocate_tennis_ball/season_POC22018_2026_05_29_11_16_12_train/lerobot_v3.0/meta/annotations.jsonl b/relocate_tennis_ball/season_POC22018_2026_05_29_11_16_12_train/lerobot_v3.0/meta/annotations.jsonl
index b717fe0ab6c7d07e14205160e127324f5cc81c49..77ea754efebae1f1c7eeaf58fc6953b3ab36c573 100644
--- a/relocate_tennis_ball/season_POC22018_2026_05_29_11_16_12_train/lerobot_v3.0/meta/annotations.jsonl
+++ b/relocate_tennis_ball/season_POC22018_2026_05_29_11_16_12_train/lerobot_v3.0/meta/annotations.jsonl
@@ -364,7 +364,7 @@
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 {"source_uid": "a4907fd5a534d689", "num_frames": 998, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 207, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 208, "end_step": 303, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 735, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 909, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 207, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 208, "end_step": 303, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 735, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 909, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_15_23_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 49, "v40_language_source": "previous_published_lerobot", "episode_index": 32}
 {"source_uid": "887532d77a1c6cd8", "num_frames": 1056, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 228, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 297, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 298, "end_step": 822, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 996, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 228, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 297, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 298, "end_step": 822, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 996, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_15_24_28_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 50, "v40_language_source": "previous_published_lerobot", "episode_index": 33}
 {"source_uid": "12042fa7a53ae682", "num_frames": 937, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 291, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 672, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 849, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 291, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 672, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 849, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_15_26_34_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 52, "v40_language_source": "previous_published_lerobot", "episode_index": 34}
-{"source_uid": "bd1057b860908ca0", "num_frames": 504, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 460, "id": "T-YSvrPZ64vcQLoW6IvL8"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 461, "end_step": 503, "id": "ma8HKw2dEaxa_T8zMRaOk"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 35}
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 {"source_uid": "81beecba55bdc6c1", "num_frames": 1104, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 264, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 867, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 868, "end_step": 1035, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 264, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 867, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 868, "end_step": 1035, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_16_42_25_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 66, "v40_language_source": "previous_published_lerobot", "episode_index": 47}
@@ -56,55 +56,55 @@
 {"source_uid": "79c83791369ab0c0", "num_frames": 667, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 189, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 279, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 420, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 585, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 189, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 279, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 420, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 585, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_16_51_36_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 78, "v40_language_source": "previous_published_lerobot", "episode_index": 55}
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-{"source_uid": "ea492da67ce1f940", "num_frames": 683, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 635, "id": "v7zesjFDAQgc-dBC2kUVn"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 636, "end_step": 682, "id": "LOGhTpNEZp2UV6HCJl626"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 100}
-{"source_uid": "6da10c2ba05433df", "num_frames": 731, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 682, "id": "mQY1Ds2ZT-zPgcE-jIFY9"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 683, "end_step": 730, "id": "fSiPKSSd6XfpWShGkiqhd"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 101}
-{"source_uid": "96e61a38c1c120dd", "num_frames": 751, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 706, "id": "hDNozkibMdIhiJmfRNEyx"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 707, "end_step": 750, "id": "47FQaQq5M3HvLrz-TwJfs"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 102}
-{"source_uid": "edeb99b5cc9ef5bf", "num_frames": 724, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 676, "id": "6sk6q8mH-1RCWEbyAH6JR"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 677, "end_step": 723, "id": "ko-_mqC5I78tnfGButwq7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 103}
-{"source_uid": "eea3593af555c3aa", "num_frames": 687, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 638, "id": "nGLoiPCInCItIMLDquuEn"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 639, "end_step": 686, "id": "7ig0dpheudcJFJT21Oybo"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 104}
-{"source_uid": "db5288e614236f94", "num_frames": 810, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 762, "id": "sBNO0hoB3rzQeDRhA6kxZ"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 763, "end_step": 809, "id": "yUpzqcDiNLU7o-qvoMxrB"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 105}
-{"source_uid": "596d48a46f3af6c7", "num_frames": 700, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 657, "id": "ITJOdXfb_clNBNTSsONXB"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 658, "end_step": 699, "id": "bqhXDbCV5tHaDzfFV3S81"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 106}
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@@ -114,61 +114,61 @@
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 {"source_uid": "23eafd995e54412e", "num_frames": 1115, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 210, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 255, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 256, "end_step": 888, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 1035, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 210, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 255, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 256, "end_step": 888, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 1035, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_19_34_59_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 105, "v40_language_source": "previous_published_lerobot", "episode_index": 114}
 {"source_uid": "733290963d25d80d", "num_frames": 662, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 186, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 237, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 477, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 588, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 186, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 237, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 477, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 588, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_19_35_45_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 106, "v40_language_source": "previous_published_lerobot", "episode_index": 115}
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+{"source_uid": "cdaf572c13742373", "num_frames": 667, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 151, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 619, "id": "Mti48J8doShbxSq8ddYp0"}, {"label": "subtasks", "start_step": 152, "end_step": 252, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 472, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 473, "end_step": 594, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 620, "end_step": 666, "id": "L_spikdkChlU9BXjjrAtD"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 151, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 152, "end_step": 252, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 472, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 473, "end_step": 594, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 173, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
diff --git a/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotations.jsonl b/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotations.jsonl
index 124b9e6eefec758cc6439ed15f092dfce2769aea..e6b647484aa1862a3750326a0f13b526df4a8c29 100644
--- a/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotations.jsonl
+++ b/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotations.jsonl
@@ -33,16 +33,16 @@
 {"source_uid": "a4907fd5a534d689", "num_frames": 998, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 207, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 208, "end_step": 303, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 735, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 909, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 207, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 208, "end_step": 303, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 735, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 909, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_15_23_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 49, "v40_language_source": "previous_published_lerobot", "episode_index": 32}
 {"source_uid": "887532d77a1c6cd8", "num_frames": 1056, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 228, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 297, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 298, "end_step": 822, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 996, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 228, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 297, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 298, "end_step": 822, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 996, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_15_24_28_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 50, "v40_language_source": "previous_published_lerobot", "episode_index": 33}
 {"source_uid": "12042fa7a53ae682", "num_frames": 937, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 291, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 672, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 849, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 291, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 672, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 849, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_15_26_34_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 52, "v40_language_source": "previous_published_lerobot", "episode_index": 34}
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 {"source_uid": "81beecba55bdc6c1", "num_frames": 1104, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 264, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 867, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 868, "end_step": 1035, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 264, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 867, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 868, "end_step": 1035, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_16_42_25_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 66, "v40_language_source": "previous_published_lerobot", "episode_index": 47}
@@ -56,55 +56,55 @@
 {"source_uid": "79c83791369ab0c0", "num_frames": 667, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 189, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 279, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 420, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 585, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 189, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 279, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 420, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 585, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_16_51_36_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 78, "v40_language_source": "previous_published_lerobot", "episode_index": 55}
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-{"source_uid": "ea492da67ce1f940", "num_frames": 683, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 635, "id": "v7zesjFDAQgc-dBC2kUVn"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 636, "end_step": 682, "id": "LOGhTpNEZp2UV6HCJl626"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 100}
-{"source_uid": "6da10c2ba05433df", "num_frames": 731, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 682, "id": "mQY1Ds2ZT-zPgcE-jIFY9"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 683, "end_step": 730, "id": "fSiPKSSd6XfpWShGkiqhd"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 101}
-{"source_uid": "96e61a38c1c120dd", "num_frames": 751, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 706, "id": "hDNozkibMdIhiJmfRNEyx"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 707, "end_step": 750, "id": "47FQaQq5M3HvLrz-TwJfs"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 102}
-{"source_uid": "edeb99b5cc9ef5bf", "num_frames": 724, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 676, "id": "6sk6q8mH-1RCWEbyAH6JR"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 677, "end_step": 723, "id": "ko-_mqC5I78tnfGButwq7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 103}
-{"source_uid": "eea3593af555c3aa", "num_frames": 687, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 638, "id": "nGLoiPCInCItIMLDquuEn"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 639, "end_step": 686, "id": "7ig0dpheudcJFJT21Oybo"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 104}
-{"source_uid": "db5288e614236f94", "num_frames": 810, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 762, "id": "sBNO0hoB3rzQeDRhA6kxZ"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 763, "end_step": 809, "id": "yUpzqcDiNLU7o-qvoMxrB"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 105}
-{"source_uid": "596d48a46f3af6c7", "num_frames": 700, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 657, "id": "ITJOdXfb_clNBNTSsONXB"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 658, "end_step": 699, "id": "bqhXDbCV5tHaDzfFV3S81"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 106}
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@@ -114,61 +114,61 @@
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 {"source_uid": "23eafd995e54412e", "num_frames": 1115, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 210, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 255, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 256, "end_step": 888, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 1035, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 210, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 255, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 256, "end_step": 888, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 1035, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_19_34_59_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 105, "v40_language_source": "previous_published_lerobot", "episode_index": 114}
 {"source_uid": "733290963d25d80d", "num_frames": 662, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 186, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 237, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 477, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 588, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 186, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 237, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 477, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 588, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_19_35_45_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 106, "v40_language_source": "previous_published_lerobot", "episode_index": 115}
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+{"source_uid": "69ed47ded8021f74", "num_frames": 813, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 155, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 767, "id": "tb--VeiN-adEFJgU9lUXJ"}, {"label": "subtasks", "start_step": 156, "end_step": 233, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 234, "end_step": 602, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 603, "end_step": 738, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 768, "end_step": 812, "id": "UqN1H3Z1_C6PuR0RikrHP"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 155, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 233, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 234, "end_step": 602, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 603, "end_step": 738, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 172, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
+{"source_uid": "cdaf572c13742373", "num_frames": 667, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 151, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 619, "id": "Mti48J8doShbxSq8ddYp0"}, {"label": "subtasks", "start_step": 152, "end_step": 252, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 472, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 473, "end_step": 594, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 620, "end_step": 666, "id": "L_spikdkChlU9BXjjrAtD"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 151, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 152, "end_step": 252, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 472, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 473, "end_step": 594, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 173, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
diff --git a/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/episodes_stats.jsonl b/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/episodes_stats.jsonl
index e75b280049307846111485c0e7ea1a3ab01273eb..bee21cde50de06d6e40a63cb5d34367e949c63ba 100644
--- a/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/episodes_stats.jsonl
+++ b/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -33,16 +33,16 @@
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 {"source_uid": "a4907fd5a534d689", "num_frames": 998, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 207, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 208, "end_step": 303, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 735, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 909, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 207, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 208, "end_step": 303, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 735, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 909, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_15_23_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 49, "v40_language_source": "previous_published_lerobot", "episode_index": 32}
 {"source_uid": "887532d77a1c6cd8", "num_frames": 1056, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 228, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 297, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 298, "end_step": 822, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 996, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 228, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 297, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 298, "end_step": 822, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 996, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_15_24_28_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 50, "v40_language_source": "previous_published_lerobot", "episode_index": 33}
 {"source_uid": "12042fa7a53ae682", "num_frames": 937, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 291, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 672, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 849, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 291, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 672, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 849, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_15_26_34_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 52, "v40_language_source": "previous_published_lerobot", "episode_index": 34}
-{"source_uid": "bd1057b860908ca0", "num_frames": 504, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 460, "id": "T-YSvrPZ64vcQLoW6IvL8"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 461, "end_step": 503, "id": "ma8HKw2dEaxa_T8zMRaOk"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 35}
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 {"source_uid": "81beecba55bdc6c1", "num_frames": 1104, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 264, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 867, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 868, "end_step": 1035, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 264, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 867, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 868, "end_step": 1035, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_16_42_25_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 66, "v40_language_source": "previous_published_lerobot", "episode_index": 47}
@@ -56,55 +56,55 @@
 {"source_uid": "79c83791369ab0c0", "num_frames": 667, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 189, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 279, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 420, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 585, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 189, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 279, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 420, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 585, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_16_51_36_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 78, "v40_language_source": "previous_published_lerobot", "episode_index": 55}
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-{"source_uid": "ea492da67ce1f940", "num_frames": 683, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 635, "id": "v7zesjFDAQgc-dBC2kUVn"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 636, "end_step": 682, "id": "LOGhTpNEZp2UV6HCJl626"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 100}
-{"source_uid": "6da10c2ba05433df", "num_frames": 731, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 682, "id": "mQY1Ds2ZT-zPgcE-jIFY9"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 683, "end_step": 730, "id": "fSiPKSSd6XfpWShGkiqhd"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 101}
-{"source_uid": "96e61a38c1c120dd", "num_frames": 751, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 706, "id": "hDNozkibMdIhiJmfRNEyx"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 707, "end_step": 750, "id": "47FQaQq5M3HvLrz-TwJfs"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 102}
-{"source_uid": "edeb99b5cc9ef5bf", "num_frames": 724, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 676, "id": "6sk6q8mH-1RCWEbyAH6JR"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 677, "end_step": 723, "id": "ko-_mqC5I78tnfGButwq7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 103}
-{"source_uid": "eea3593af555c3aa", "num_frames": 687, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 638, "id": "nGLoiPCInCItIMLDquuEn"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 639, "end_step": 686, "id": "7ig0dpheudcJFJT21Oybo"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 104}
-{"source_uid": "db5288e614236f94", "num_frames": 810, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 762, "id": "sBNO0hoB3rzQeDRhA6kxZ"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 763, "end_step": 809, "id": "yUpzqcDiNLU7o-qvoMxrB"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 105}
-{"source_uid": "596d48a46f3af6c7", "num_frames": 700, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 657, "id": "ITJOdXfb_clNBNTSsONXB"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 658, "end_step": 699, "id": "bqhXDbCV5tHaDzfFV3S81"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 106}
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@@ -114,61 +114,61 @@
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 {"source_uid": "23eafd995e54412e", "num_frames": 1115, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 210, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 255, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 256, "end_step": 888, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 1035, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 210, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 255, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 256, "end_step": 888, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 1035, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_19_34_59_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 105, "v40_language_source": "previous_published_lerobot", "episode_index": 114}
 {"source_uid": "733290963d25d80d", "num_frames": 662, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 186, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 237, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 477, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 588, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 186, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 237, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 477, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 588, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_19_35_45_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 106, "v40_language_source": "previous_published_lerobot", "episode_index": 115}
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+{"source_uid": "cdaf572c13742373", "num_frames": 667, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 151, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 619, "id": "Mti48J8doShbxSq8ddYp0"}, {"label": "subtasks", "start_step": 152, "end_step": 252, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 472, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 473, "end_step": 594, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 620, "end_step": 666, "id": "L_spikdkChlU9BXjjrAtD"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 151, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 152, "end_step": 252, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 472, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 473, "end_step": 594, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 173, "timing_correction": "2026-10-16: subtask intervals re-timed. They had been published on a fixed 100-frame grid; the new intervals come from aligning joint motion and fingertip contact with hand-labelled episodes of the same task, checked against the head camera. Text unchanged."}
diff --git a/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v3.0/meta/annotations.jsonl b/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v3.0/meta/annotations.jsonl
index 124b9e6eefec758cc6439ed15f092dfce2769aea..e6b647484aa1862a3750326a0f13b526df4a8c29 100644
--- a/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v3.0/meta/annotations.jsonl
+++ b/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v3.0/meta/annotations.jsonl
@@ -33,16 +33,16 @@
 {"source_uid": "a4907fd5a534d689", "num_frames": 998, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 207, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 208, "end_step": 303, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 735, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 909, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 207, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 208, "end_step": 303, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 735, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 909, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_15_23_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 49, "v40_language_source": "previous_published_lerobot", "episode_index": 32}
 {"source_uid": "887532d77a1c6cd8", "num_frames": 1056, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 228, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 297, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 298, "end_step": 822, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 996, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 228, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 297, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 298, "end_step": 822, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 996, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_15_24_28_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 50, "v40_language_source": "previous_published_lerobot", "episode_index": 33}
 {"source_uid": "12042fa7a53ae682", "num_frames": 937, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 291, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 672, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 849, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 291, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 672, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 849, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_15_26_34_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 52, "v40_language_source": "previous_published_lerobot", "episode_index": 34}
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 {"source_uid": "81beecba55bdc6c1", "num_frames": 1104, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 264, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 867, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 868, "end_step": 1035, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 264, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 867, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 868, "end_step": 1035, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_16_42_25_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 66, "v40_language_source": "previous_published_lerobot", "episode_index": 47}
@@ -56,55 +56,55 @@
 {"source_uid": "79c83791369ab0c0", "num_frames": 667, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 189, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 279, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 420, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 585, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 189, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 190, "end_step": 279, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 420, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 585, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_16_51_36_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 78, "v40_language_source": "previous_published_lerobot", "episode_index": 55}
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-{"source_uid": "ea492da67ce1f940", "num_frames": 683, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 635, "id": "v7zesjFDAQgc-dBC2kUVn"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 636, "end_step": 682, "id": "LOGhTpNEZp2UV6HCJl626"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 100}
-{"source_uid": "6da10c2ba05433df", "num_frames": 731, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 682, "id": "mQY1Ds2ZT-zPgcE-jIFY9"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 683, "end_step": 730, "id": "fSiPKSSd6XfpWShGkiqhd"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 101}
-{"source_uid": "96e61a38c1c120dd", "num_frames": 751, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 706, "id": "hDNozkibMdIhiJmfRNEyx"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 707, "end_step": 750, "id": "47FQaQq5M3HvLrz-TwJfs"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 102}
-{"source_uid": "edeb99b5cc9ef5bf", "num_frames": 724, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 676, "id": "6sk6q8mH-1RCWEbyAH6JR"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 677, "end_step": 723, "id": "ko-_mqC5I78tnfGButwq7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 103}
-{"source_uid": "eea3593af555c3aa", "num_frames": 687, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 638, "id": "nGLoiPCInCItIMLDquuEn"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 639, "end_step": 686, "id": "7ig0dpheudcJFJT21Oybo"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 104}
-{"source_uid": "db5288e614236f94", "num_frames": 810, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 762, "id": "sBNO0hoB3rzQeDRhA6kxZ"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 763, "end_step": 809, "id": "yUpzqcDiNLU7o-qvoMxrB"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 105}
-{"source_uid": "596d48a46f3af6c7", "num_frames": 700, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "B", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "valid", "start_step": 0, "end_step": 657, "id": "ITJOdXfb_clNBNTSsONXB"}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "home", "start_step": 658, "end_step": 699, "id": "bqhXDbCV5tHaDzfFV3S81"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 99, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 100, "end_step": 199, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 399, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 499, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "episode_index": 106}
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@@ -114,61 +114,61 @@
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 {"source_uid": "23eafd995e54412e", "num_frames": 1115, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 210, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 255, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 256, "end_step": 888, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 1035, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 210, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 255, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 256, "end_step": 888, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 1035, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_19_34_59_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 105, "v40_language_source": "previous_published_lerobot", "episode_index": 114}
 {"source_uid": "733290963d25d80d", "num_frames": 662, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 186, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 237, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 477, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 588, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 186, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 187, "end_step": 237, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 477, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 588, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_24_14_22_33_train/POC22018_2026_05_24_19_35_45_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_24_14_22_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 106, "v40_language_source": "previous_published_lerobot", "episode_index": 115}
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@@ -23,7 +23,7 @@
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 {"source_uid": "5510469beed3ad48", "num_frames": 698, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 155, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 270, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 495, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 496, "end_step": 615, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 155, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 270, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 495, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 496, "end_step": 615, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_16_34_00_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 42, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
 {"source_uid": "edbf7e7ff8777678", "num_frames": 938, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 205, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 206, "end_step": 390, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 720, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 860, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 205, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 206, "end_step": 390, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 720, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 860, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_16_35_07_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 44, "v40_language_source": "previous_published_lerobot", "episode_index": 24}
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 {"source_uid": "514b94cafb02af60", "num_frames": 910, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 280, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 710, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 711, "end_step": 830, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 280, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 710, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 711, "end_step": 830, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_16_37_06_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 46, "v40_language_source": "previous_published_lerobot", "episode_index": 27}
 {"source_uid": "ee9d5a5c0e2344bd", "num_frames": 933, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 175, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 176, "end_step": 315, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 316, "end_step": 730, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 731, "end_step": 855, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 175, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 176, "end_step": 315, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 316, "end_step": 730, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 731, "end_step": 855, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_16_38_30_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 48, "v40_language_source": "previous_published_lerobot", "episode_index": 28}
@@ -62,7 +62,7 @@
 {"source_uid": "bdd4b6f750add275", "num_frames": 703, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 170, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 171, "end_step": 290, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 525, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 526, "end_step": 625, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 170, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 171, "end_step": 290, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 525, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 526, "end_step": 625, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_17_28_36_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 126, "v40_language_source": "previous_published_lerobot", "episode_index": 61}
 {"source_uid": "3e710c1bd461a70b", "num_frames": 752, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 140, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 141, "end_step": 240, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 590, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 675, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 140, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 141, "end_step": 240, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 590, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 675, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_17_29_06_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 127, "v40_language_source": "previous_published_lerobot", "episode_index": 62}
 {"source_uid": "2dba9a3ab05266cc", "num_frames": 1014, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 170, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 171, "end_step": 250, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 780, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 925, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 170, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 171, "end_step": 250, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 780, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 925, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_17_30_09_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 129, "v40_language_source": "previous_published_lerobot", "episode_index": 63}
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@@ -96,7 +96,7 @@
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 {"source_uid": "80fd4b206a6f42d9", "num_frames": 908, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 155, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 290, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 650, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 820, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 155, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 290, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 650, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 820, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_20_39_04_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 184, "v40_language_source": "previous_published_lerobot", "episode_index": 100}
 {"source_uid": "f3416d9f0dcba3df", "num_frames": 1095, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 175, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 176, "end_step": 320, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 321, "end_step": 900, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 1015, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 175, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 176, "end_step": 320, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 321, "end_step": 900, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 1015, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_20_41_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 187, "v40_language_source": "previous_published_lerobot", "episode_index": 101}
diff --git a/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotations.jsonl b/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotations.jsonl
index 7bc555056e507922a8c7621c7cb488e0238e3f8a..b4f4c3ad066821b9389213fa510df2a2f41b0fda 100644
--- a/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotations.jsonl
+++ b/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotations.jsonl
@@ -1,5 +1,5 @@
 {"source_uid": "1e68298c86770edd", "num_frames": 1131, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 210, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 405, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 406, "end_step": 910, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1040, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 210, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 405, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 406, "end_step": 910, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1040, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_15_58_27_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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@@ -23,7 +23,7 @@
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 {"source_uid": "5510469beed3ad48", "num_frames": 698, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 155, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 270, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 495, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 496, "end_step": 615, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 155, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 270, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 495, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 496, "end_step": 615, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_16_34_00_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 42, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
 {"source_uid": "edbf7e7ff8777678", "num_frames": 938, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 205, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 206, "end_step": 390, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 720, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 860, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 205, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 206, "end_step": 390, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 720, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 860, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_16_35_07_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 44, "v40_language_source": "previous_published_lerobot", "episode_index": 24}
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 {"source_uid": "514b94cafb02af60", "num_frames": 910, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 280, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 710, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 711, "end_step": 830, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 280, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 710, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 711, "end_step": 830, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_16_37_06_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 46, "v40_language_source": "previous_published_lerobot", "episode_index": 27}
 {"source_uid": "ee9d5a5c0e2344bd", "num_frames": 933, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 175, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 176, "end_step": 315, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 316, "end_step": 730, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 731, "end_step": 855, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 175, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 176, "end_step": 315, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 316, "end_step": 730, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 731, "end_step": 855, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_16_38_30_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 48, "v40_language_source": "previous_published_lerobot", "episode_index": 28}
@@ -62,7 +62,7 @@
 {"source_uid": "bdd4b6f750add275", "num_frames": 703, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 170, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 171, "end_step": 290, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 525, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 526, "end_step": 625, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 170, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 171, "end_step": 290, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 525, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 526, "end_step": 625, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_17_28_36_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 126, "v40_language_source": "previous_published_lerobot", "episode_index": 61}
 {"source_uid": "3e710c1bd461a70b", "num_frames": 752, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 140, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 141, "end_step": 240, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 590, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 675, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 140, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 141, "end_step": 240, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 590, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 675, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_17_29_06_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 127, "v40_language_source": "previous_published_lerobot", "episode_index": 62}
 {"source_uid": "2dba9a3ab05266cc", "num_frames": 1014, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 170, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 171, "end_step": 250, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 780, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 925, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 170, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 171, "end_step": 250, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 780, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 925, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_17_30_09_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 129, "v40_language_source": "previous_published_lerobot", "episode_index": 63}
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@@ -96,7 +96,7 @@
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 {"source_uid": "80fd4b206a6f42d9", "num_frames": 908, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 155, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 290, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 650, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 820, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 155, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 290, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 650, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 820, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_20_39_04_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 184, "v40_language_source": "previous_published_lerobot", "episode_index": 100}
 {"source_uid": "f3416d9f0dcba3df", "num_frames": 1095, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 175, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 176, "end_step": 320, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 321, "end_step": 900, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 1015, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 175, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 176, "end_step": 320, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 321, "end_step": 900, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 1015, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_20_41_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 187, "v40_language_source": "previous_published_lerobot", "episode_index": 101}
diff --git a/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/episodes_stats.jsonl b/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/episodes_stats.jsonl
index 6dad4bf9289499257fa953388c1c4cc38388c8a1..1093063ecc919fd86151b7c33db04321ce32d6de 100644
--- a/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/episodes_stats.jsonl
+++ b/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -1,5 +1,5 @@
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@@ -23,7 +23,7 @@
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 {"source_uid": "5510469beed3ad48", "num_frames": 698, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 155, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 270, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 495, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 496, "end_step": 615, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 155, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 270, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 495, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 496, "end_step": 615, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_16_34_00_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 42, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
 {"source_uid": "edbf7e7ff8777678", "num_frames": 938, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 205, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 206, "end_step": 390, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 720, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 860, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 205, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 206, "end_step": 390, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 720, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 860, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_16_35_07_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 44, "v40_language_source": "previous_published_lerobot", "episode_index": 24}
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 {"source_uid": "514b94cafb02af60", "num_frames": 910, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 280, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 710, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 711, "end_step": 830, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 280, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 710, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 711, "end_step": 830, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_16_37_06_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 46, "v40_language_source": "previous_published_lerobot", "episode_index": 27}
 {"source_uid": "ee9d5a5c0e2344bd", "num_frames": 933, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 175, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 176, "end_step": 315, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 316, "end_step": 730, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 731, "end_step": 855, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 175, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 176, "end_step": 315, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 316, "end_step": 730, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 731, "end_step": 855, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_16_38_30_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 48, "v40_language_source": "previous_published_lerobot", "episode_index": 28}
@@ -62,7 +62,7 @@
 {"source_uid": "bdd4b6f750add275", "num_frames": 703, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 170, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 171, "end_step": 290, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 525, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 526, "end_step": 625, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 170, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 171, "end_step": 290, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 525, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 526, "end_step": 625, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_17_28_36_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 126, "v40_language_source": "previous_published_lerobot", "episode_index": 61}
 {"source_uid": "3e710c1bd461a70b", "num_frames": 752, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 140, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 141, "end_step": 240, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 590, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 675, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 140, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 141, "end_step": 240, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 590, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 675, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_17_29_06_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 127, "v40_language_source": "previous_published_lerobot", "episode_index": 62}
 {"source_uid": "2dba9a3ab05266cc", "num_frames": 1014, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 170, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 171, "end_step": 250, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 780, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 925, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 170, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 171, "end_step": 250, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 780, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 925, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_17_30_09_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 129, "v40_language_source": "previous_published_lerobot", "episode_index": 63}
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@@ -96,7 +96,7 @@
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 {"source_uid": "80fd4b206a6f42d9", "num_frames": 908, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 155, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 290, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 650, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 820, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 155, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 290, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 650, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 820, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_20_39_04_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 184, "v40_language_source": "previous_published_lerobot", "episode_index": 100}
 {"source_uid": "f3416d9f0dcba3df", "num_frames": 1095, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 175, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 176, "end_step": 320, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 321, "end_step": 900, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 1015, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 175, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 176, "end_step": 320, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 321, "end_step": 900, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 1015, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_20_41_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 187, "v40_language_source": "previous_published_lerobot", "episode_index": 101}
diff --git a/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v3.0/meta/annotations.jsonl b/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v3.0/meta/annotations.jsonl
index 7bc555056e507922a8c7621c7cb488e0238e3f8a..b4f4c3ad066821b9389213fa510df2a2f41b0fda 100644
--- a/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v3.0/meta/annotations.jsonl
+++ b/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v3.0/meta/annotations.jsonl
@@ -1,5 +1,5 @@
 {"source_uid": "1e68298c86770edd", "num_frames": 1131, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 210, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 405, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 406, "end_step": 910, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1040, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 210, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 211, "end_step": 405, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 406, "end_step": 910, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1040, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_15_58_27_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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@@ -23,7 +23,7 @@
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 {"source_uid": "5510469beed3ad48", "num_frames": 698, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 155, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 270, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 495, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 496, "end_step": 615, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 155, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 270, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 495, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 496, "end_step": 615, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_16_34_00_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 42, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
 {"source_uid": "edbf7e7ff8777678", "num_frames": 938, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 205, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 206, "end_step": 390, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 720, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 860, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 205, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 206, "end_step": 390, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 720, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 860, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_16_35_07_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 44, "v40_language_source": "previous_published_lerobot", "episode_index": 24}
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 {"source_uid": "514b94cafb02af60", "num_frames": 910, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 280, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 710, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 711, "end_step": 830, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 280, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 710, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 711, "end_step": 830, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_16_37_06_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 46, "v40_language_source": "previous_published_lerobot", "episode_index": 27}
 {"source_uid": "ee9d5a5c0e2344bd", "num_frames": 933, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 175, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 176, "end_step": 315, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 316, "end_step": 730, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 731, "end_step": 855, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 175, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 176, "end_step": 315, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 316, "end_step": 730, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 731, "end_step": 855, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_16_38_30_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 48, "v40_language_source": "previous_published_lerobot", "episode_index": 28}
@@ -62,7 +62,7 @@
 {"source_uid": "bdd4b6f750add275", "num_frames": 703, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 170, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 171, "end_step": 290, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 525, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 526, "end_step": 625, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 170, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 171, "end_step": 290, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 525, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 526, "end_step": 625, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_17_28_36_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 126, "v40_language_source": "previous_published_lerobot", "episode_index": 61}
 {"source_uid": "3e710c1bd461a70b", "num_frames": 752, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 140, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 141, "end_step": 240, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 590, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 675, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 140, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 141, "end_step": 240, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 590, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 675, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_17_29_06_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 127, "v40_language_source": "previous_published_lerobot", "episode_index": 62}
 {"source_uid": "2dba9a3ab05266cc", "num_frames": 1014, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 170, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 171, "end_step": 250, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 780, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 925, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 170, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 171, "end_step": 250, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 780, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 925, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_17_30_09_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 129, "v40_language_source": "previous_published_lerobot", "episode_index": 63}
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@@ -96,7 +96,7 @@
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 {"source_uid": "80fd4b206a6f42d9", "num_frames": 908, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 155, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 290, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 650, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 820, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 155, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 290, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 650, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 820, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_20_39_04_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 184, "v40_language_source": "previous_published_lerobot", "episode_index": 100}
 {"source_uid": "f3416d9f0dcba3df", "num_frames": 1095, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Sweep Trash into Dustpan | Instruction: Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom. | Scene: A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down. | Success: All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "tags": {"task_name": "Sweep Trash into Dustpan", "task_instruction": "Pick up the dustpan with the left hand and pick up the broom with the right hand. Use the broom to sweep all the trash on the table into the dustpan. Finally, put down the dustpan and the broom.", "scene_description": "A dustpan, a broom, and several pieces of trash are on the table. The robot needs to hold the dustpan with the left hand, hold the broom with the right hand, sweep all the trash into the dustpan, and then put both tools down.", "success_criteria": "All trash on the table is swept into the dustpan, and no trash remains on the table. The dustpan and broom are put down stably.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 175, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 176, "end_step": 320, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 321, "end_step": 900, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 1015, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 175, "id": "subtask-001", "text": "Pick up the dustpan from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 176, "end_step": 320, "id": "subtask-002", "text": "Pick up the broom from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 321, "end_step": 900, "id": "subtask-003", "text": "Sweep all the trash on the table into the dustpan with the broom using the right hand while the left hand holds the dustpan. | Skill: slide", "task_skill": "slide", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 1015, "id": "subtask-004", "text": "Place the dustpan and the broom back on the table. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Sweep_Trash_into_Dustpan/season_POC22018_2026_05_25_15_58_27_train/POC22018_2026_05_25_20_41_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/sweep_waste_into_dustpan/season_POC22018_2026_05_25_15_58_27_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 187, "v40_language_source": "previous_published_lerobot", "episode_index": 101}
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