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index 0000000000000000000000000000000000000000..e18dbf6ba1d67d194ba4d886703d72efe8e65f2a
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new file mode 100644
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diff --git a/embodiedcity/Datasets/vln/label/56.csv b/embodiedcity/Datasets/vln/label/56.csv
new file mode 100644
index 0000000000000000000000000000000000000000..881d79cfe6c1aa89ff26386f44875f95775898b5
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diff --git a/embodiedcity/Datasets/vln/label/59.csv b/embodiedcity/Datasets/vln/label/59.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6ccd6e559d973ad8d48ab239d555aa5e89e6a68e
--- /dev/null
+++ b/embodiedcity/Datasets/vln/label/59.csv
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diff --git a/embodiedcity/Datasets/vln/label/62.csv b/embodiedcity/Datasets/vln/label/62.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d163427bd196b8c60655f392f408bacffe21c1ad
--- /dev/null
+++ b/embodiedcity/Datasets/vln/label/62.csv
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diff --git a/embodiedcity/Datasets/vln/label/63.csv b/embodiedcity/Datasets/vln/label/63.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1c3fcb8e55c334ab190b9d6366081ff97f9596bd
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..92f566929f6dd87f1056ed450328ba0931f6ea04
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diff --git a/embodiedcity/Datasets/vln/label/66.csv b/embodiedcity/Datasets/vln/label/66.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6108e97b427c61996e7a595926fbba422c72b8a7
--- /dev/null
+++ b/embodiedcity/Datasets/vln/label/66.csv
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diff --git a/embodiedcity/Datasets/vln/label/70.csv b/embodiedcity/Datasets/vln/label/70.csv
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index 0000000000000000000000000000000000000000..2c82e01db3c4626bdbfc3fa1d9e382040edddb0f
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diff --git a/embodiedcity/Datasets/vln/label/71.csv b/embodiedcity/Datasets/vln/label/71.csv
new file mode 100644
index 0000000000000000000000000000000000000000..41e45a6ccd3c748933826548c67165c6110caff5
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new file mode 100644
index 0000000000000000000000000000000000000000..2b20b0436cbc165e994cd4956c79b6effa4d1e73
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/embodiedcity/Datasets/vln/label/97.csv b/embodiedcity/Datasets/vln/label/97.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2a0b0437dff230c68e45963bd5e3d08d381ed0e2
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diff --git a/game/data/Block3D/__init__.py b/game/data/Block3D/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
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diff --git a/game/data/Block3D/__pycache__/generate.cpython-313.pyc b/game/data/Block3D/__pycache__/generate.cpython-313.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..8e286c135e805e6f94ef0ca0b2f5a54be0245642
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diff --git a/game/data/Block3D/__pycache__/level_data.cpython-313.pyc b/game/data/Block3D/__pycache__/level_data.cpython-313.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..bb30ea6b2d3a36fe95ea9c93a19e7a4deab8a100
Binary files /dev/null and b/game/data/Block3D/__pycache__/level_data.cpython-313.pyc differ
diff --git a/game/data/Block3D/generate.py b/game/data/Block3D/generate.py
new file mode 100644
index 0000000000000000000000000000000000000000..6162ee3486fe01f3d64a3505d72e7a6e57ea2165
--- /dev/null
+++ b/game/data/Block3D/generate.py
@@ -0,0 +1,57 @@
+import random
+STATIC_LEVELS = [{'name': '入门 - 一字型 (2块)', 'blocks': [(2, 2, 0), (3, 2, 0)]}, {'name': '简单 - 椅子 (4块)', 'blocks': [(2, 2, 0), (2, 3, 0), (2, 2, 1), (2, 2, 2)]}, {'name': '中等 - 拱门 (9块)', 'blocks': [(1, 2, 0), (1, 2, 1), (1, 2, 2), (3, 2, 0), (3, 2, 1), (3, 2, 2), (1, 2, 3), (2, 2, 3), (3, 2, 3)]}, {'name': '困难 - 螺旋梯 (10块)', 'blocks': [(2, 2, 0), (2, 3, 0), (3, 3, 0), (3, 2, 0), (3, 1, 1), (2, 1, 1), (1, 1, 1), (1, 2, 1), (1, 3, 2), (2, 3, 2)]}, {'name': '进阶 - 实心立方体 (8块)', 'blocks': [(2, 2, 0), (3, 2, 0), (2, 3, 0), (3, 3, 0), (2, 2, 1), (3, 2, 1), (2, 3, 1), (3, 3, 1)]}, {'name': '进阶 - 金字塔 (15块)', 'blocks': [(1, 1, 0), (2, 1, 0), (3, 1, 0), (1, 2, 0), (2, 2, 0), (3, 2, 0), (1, 3, 0), (2, 3, 0), (3, 3, 0), (2, 1, 1), (1, 2, 1), (2, 2, 1), (3, 2, 1), (2, 3, 1), (2, 2, 2)]}, {'name': '挑战 - 字母 H (10块)', 'blocks': [(1, 2, 0), (1, 2, 1), (1, 2, 2), (1, 2, 3), (3, 2, 0), (3, 2, 1), (3, 2, 2), (3, 2, 3), (2, 2, 1), (2, 2, 2)]}, {'name': '挑战 - 枯井 (16块)', 'blocks': [(1, 1, 0), (2, 1, 0), (3, 1, 0), (1, 3, 0), (2, 3, 0), (3, 3, 0), (1, 2, 0), (3, 2, 0), (1, 1, 1), (2, 1, 1), (3, 1, 1), (1, 3, 1), (2, 3, 1), (3, 3, 1), (1, 2, 1), (3, 2, 1)]}, {'name': '专家 - 浮空十字 (8块)', 'blocks': [(2, 2, 0), (2, 2, 1), (2, 2, 2), (2, 2, 3), (1, 2, 2), (3, 2, 2), (2, 1, 2), (2, 3, 2)]}]
+
+def generate_random_level_data(num_blocks, grid_size=6):
+    """Helpers."""
+    blocks = set()
+    start_pos = (random.randint(1, grid_size - 2), random.randint(1, grid_size - 2), 0)
+    blocks.add(start_pos)
+    attempts = 0
+    while len(blocks) < num_blocks and attempts < 1000:
+        attempts += 1
+        base = random.choice(list(blocks))
+        bx, by, bz = base
+        directions = [(1, 0, 0), (-1, 0, 0), (0, 1, 0), (0, -1, 0), (0, 0, 1), (0, 0, -1)]
+        dx, dy, dz = random.choice(directions)
+        nx, ny, nz = (bx + dx, by + dy, bz + dz)
+        if 0 <= nx < grid_size and 0 <= ny < grid_size and (0 <= nz < grid_size):
+            blocks.add((nx, ny, nz))
+    return sorted(list(blocks))
+
+def export_to_file(filename='level_data.py'):
+    all_levels = []
+    all_levels.extend(STATIC_LEVELS)
+    random_counts = [1, 1, 1, 3, 3, 3, 4, 4, 4, 5, 5]
+    for count in random_counts:
+        blocks = generate_random_level_data(count)
+        all_levels.append({'name': f'随机生成 - 未知结构 ({count}块)', 'blocks': blocks})
+    all_levels.sort(key=lambda x: len(x['blocks']))
+    with open(filename, 'w', encoding='utf-8') as f:
+        f.write('# Auto-generated Level Data\n')
+        f.write('# Sorted by block count (Easy -> Hard)\n\n')
+        f.write('LEVEL_DESIGNS = {\n')
+        for index, data in enumerate(all_levels):
+            new_id = str(index + 1)
+            block_count = len(data['blocks'])
+            f.write(f'    "{new_id}": {{\n')
+            f.write(f"""        "name": "[Lv.{new_id}] {data['name']} (共{block_count}块)",\n""")
+            f.write(f'        "blocks": [\n')
+            blocks = data['blocks']
+            line_buffer = ''
+            for b in blocks:
+                s = str(b) + ', '
+                if len(line_buffer) + len(s) > 80:
+                    f.write(f'            {line_buffer}\n')
+                    line_buffer = s
+                else:
+                    line_buffer += s
+            if line_buffer:
+                f.write(f'            {line_buffer}\n')
+            f.write(f'        ]\n')
+            f.write(f'    }},\n')
+        f.write('}\n')
+    print(f'成功生成 {filename}!')
+    print(f'共导出 {len(all_levels)} 个关卡，已按物块数量从小到大排序。')
+    print(f'现在你可以按顺序游玩：python game.py 1, python game.py 2 ...')
+if __name__ == '__main__':
+    export_to_file()
\ No newline at end of file
diff --git a/game/data/Block3D/level_data.py b/game/data/Block3D/level_data.py
new file mode 100644
index 0000000000000000000000000000000000000000..64cd836d34f84bab6209265ccbce521fa4a77ee0
--- /dev/null
+++ b/game/data/Block3D/level_data.py
@@ -0,0 +1 @@
+LEVEL_DESIGNS = {'1': {'name': '[Lv.1] 随机生成 - 未知结构 (1块) (共1块)', 'blocks': [(2, 2, 0)]}, '2': {'name': '[Lv.2] 随机生成 - 未知结构 (1块) (共1块)', 'blocks': [(4, 4, 0)]}, '3': {'name': '[Lv.3] 随机生成 - 未知结构 (1块) (共1块)', 'blocks': [(1, 3, 0)]}, '4': {'name': '[Lv.4] 入门 - 一字型 (2块) (共2块)', 'blocks': [(2, 2, 0), (3, 2, 0)]}, '5': {'name': '[Lv.5] 随机生成 - 未知结构 (3块) (共3块)', 'blocks': [(1, 1, 0), (1, 1, 1), (1, 2, 0)]}, '6': {'name': '[Lv.6] 随机生成 - 未知结构 (3块) (共3块)', 'blocks': [(0, 4, 1), (1, 4, 0), (1, 4, 1)]}, '7': {'name': '[Lv.7] 随机生成 - 未知结构 (3块) (共3块)', 'blocks': [(4, 4, 0), (4, 5, 0), (5, 5, 0)]}, '8': {'name': '[Lv.8] 简单 - 椅子 (4块) (共4块)', 'blocks': [(2, 2, 0), (2, 3, 0), (2, 2, 1), (2, 2, 2)]}, '9': {'name': '[Lv.9] 随机生成 - 未知结构 (4块) (共4块)', 'blocks': [(2, 0, 0), (2, 1, 0), (3, 1, 0), (4, 1, 0)]}, '10': {'name': '[Lv.10] 随机生成 - 未知结构 (4块) (共4块)', 'blocks': [(3, 1, 0), (3, 2, 0), (4, 1, 0), (5, 1, 0)]}, '11': {'name': '[Lv.11] 随机生成 - 未知结构 (4块) (共4块)', 'blocks': [(1, 3, 0), (2, 2, 0), (2, 3, 0), (3, 2, 0)]}, '12': {'name': '[Lv.12] 随机生成 - 未知结构 (5块) (共5块)', 'blocks': [(4, 1, 0), (4, 2, 0), (4, 2, 1), (4, 2, 2), (5, 2, 0)]}, '13': {'name': '[Lv.13] 随机生成 - 未知结构 (5块) (共5块)', 'blocks': [(1, 2, 0), (1, 2, 1), (1, 2, 2), (1, 3, 1), (2, 2, 0)]}, '14': {'name': '[Lv.14] 进阶 - 实心立方体 (8块) (共8块)', 'blocks': [(2, 2, 0), (3, 2, 0), (2, 3, 0), (3, 3, 0), (2, 2, 1), (3, 2, 1), (2, 3, 1), (3, 3, 1)]}, '15': {'name': '[Lv.15] 专家 - 浮空十字 (8块) (共8块)', 'blocks': [(2, 2, 0), (2, 2, 1), (2, 2, 2), (2, 2, 3), (1, 2, 2), (3, 2, 2), (2, 1, 2), (2, 3, 2)]}, '16': {'name': '[Lv.16] 中等 - 拱门 (9块) (共9块)', 'blocks': [(1, 2, 0), (1, 2, 1), (1, 2, 2), (3, 2, 0), (3, 2, 1), (3, 2, 2), (1, 2, 3), (2, 2, 3), (3, 2, 3)]}, '17': {'name': '[Lv.17] 困难 - 螺旋梯 (10块) (共10块)', 'blocks': [(2, 2, 0), (2, 3, 0), (3, 3, 0), (3, 2, 0), (3, 1, 1), (2, 1, 1), (1, 1, 1), (1, 2, 1), (1, 3, 2), (2, 3, 2)]}, '18': {'name': '[Lv.18] 挑战 - 字母 H (10块) (共10块)', 'blocks': [(1, 2, 0), (1, 2, 1), (1, 2, 2), (1, 2, 3), (3, 2, 0), (3, 2, 1), (3, 2, 2), (3, 2, 3), (2, 2, 1), (2, 2, 2)]}, '19': {'name': '[Lv.19] 进阶 - 金字塔 (15块) (共15块)', 'blocks': [(1, 1, 0), (2, 1, 0), (3, 1, 0), (1, 2, 0), (2, 2, 0), (3, 2, 0), (1, 3, 0), (2, 3, 0), (3, 3, 0), (2, 1, 1), (1, 2, 1), (2, 2, 1), (3, 2, 1), (2, 3, 1), (2, 2, 2)]}, '20': {'name': '[Lv.20] 挑战 - 枯井 (16块) (共16块)', 'blocks': [(1, 1, 0), (2, 1, 0), (3, 1, 0), (1, 3, 0), (2, 3, 0), (3, 3, 0), (1, 2, 0), (3, 2, 0), (1, 1, 1), (2, 1, 1), (3, 1, 1), (1, 3, 1), (2, 3, 1), (3, 3, 1), (1, 2, 1), (3, 2, 1)]}}
diff --git a/game/data/__init__.py b/game/data/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/game/data/__pycache__/__init__.cpython-313.pyc b/game/data/__pycache__/__init__.cpython-313.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..2fc91f060b4e095356c9089adc8902786608d814
Binary files /dev/null and b/game/data/__pycache__/__init__.cpython-313.pyc differ
diff --git a/game/data/maze3d/Level_01.txt b/game/data/maze3d/Level_01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e096f58aa917c6653430fab4cf1884b9b4aeb57c
--- /dev/null
+++ b/game/data/maze3d/Level_01.txt
@@ -0,0 +1,5 @@
+#####
+#  S#
+# ###
+#E  #
+#####
diff --git a/game/data/maze3d/Level_02.txt b/game/data/maze3d/Level_02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5d15a886cfbce7775bef53541e2844ce6afd5fbb
--- /dev/null
+++ b/game/data/maze3d/Level_02.txt
@@ -0,0 +1,5 @@
+#####
+# #S#
+# # #
+#E  #
+#####
diff --git a/game/data/maze3d/Level_03.txt b/game/data/maze3d/Level_03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b0ef8acdefca696857783d6231483d85cbce4ca2
--- /dev/null
+++ b/game/data/maze3d/Level_03.txt
@@ -0,0 +1,5 @@
+#####
+#S  #
+### #
+#  E#
+#####
diff --git a/game/data/maze3d/Level_04.txt b/game/data/maze3d/Level_04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..de9e0aedaf53888b3497450527ebcf454b7a3453
--- /dev/null
+++ b/game/data/maze3d/Level_04.txt
@@ -0,0 +1,7 @@
+#######
+#    E#
+# ### #
+# #   #
+# # ###
+#S#   #
+#######
diff --git a/game/data/maze3d/Level_05.txt b/game/data/maze3d/Level_05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0fdaeaf56b58f5c7f5e29be1a133a997e6ff3070
--- /dev/null
+++ b/game/data/maze3d/Level_05.txt
@@ -0,0 +1,7 @@
+#######
+#S    #
+##### #
+#   # #
+# ### #
+#    E#
+#######
diff --git a/game/data/maze3d/Level_06.txt b/game/data/maze3d/Level_06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6d0abc3caf5d2f8b8374456d2eea125f92d2d3ed
--- /dev/null
+++ b/game/data/maze3d/Level_06.txt
@@ -0,0 +1,7 @@
+#######
+#    E#
+##### #
+#     #
+# ### #
+#S#   #
+#######
diff --git a/game/data/maze3d/Level_07.txt b/game/data/maze3d/Level_07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bec6f968f4cbc386a18e3fd4eab846b11ed097f0
--- /dev/null
+++ b/game/data/maze3d/Level_07.txt
@@ -0,0 +1,7 @@
+#######
+#S#   #
+# # # #
+# # # #
+# ### #
+#    E#
+#######
diff --git a/game/data/maze3d/Level_08.txt b/game/data/maze3d/Level_08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..795d0da3788ea73b9f16d071fca3e2244a575410
--- /dev/null
+++ b/game/data/maze3d/Level_08.txt
@@ -0,0 +1,7 @@
+#######
+#S#   #
+# # # #
+# # # #
+# # # #
+#   #E#
+#######
diff --git a/game/data/maze3d/Level_09.txt b/game/data/maze3d/Level_09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..29f5d323e5fa8c638eba1e6b2057616aeb8c68e8
--- /dev/null
+++ b/game/data/maze3d/Level_09.txt
@@ -0,0 +1,9 @@
+#########
+#S    # #
+##### # #
+#   # # #
+# # # # #
+# # # # #
+# ### # #
+#      E#
+#########
diff --git a/game/data/maze3d/Level_10.txt b/game/data/maze3d/Level_10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..03e7c11f4a09a393d0d7f3667c4b85b188b2db2b
--- /dev/null
+++ b/game/data/maze3d/Level_10.txt
@@ -0,0 +1,9 @@
+#########
+#      S#
+# #######
+# #     #
+# ### ###
+#   #   #
+### ### #
+#E      #
+#########
diff --git a/game/data/maze3d/Level_11.txt b/game/data/maze3d/Level_11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7565392864908eb83e2b3ac2ef7daa9b395e3590
--- /dev/null
+++ b/game/data/maze3d/Level_11.txt
@@ -0,0 +1,9 @@
+#########
+#      E#
+# ##### #
+# #   # #
+# ### # #
+#     # #
+####### #
+#S      #
+#########
diff --git a/game/data/maze3d/Level_12.txt b/game/data/maze3d/Level_12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..441e4287fa066162551792b92ce631bf1d070137
--- /dev/null
+++ b/game/data/maze3d/Level_12.txt
@@ -0,0 +1,9 @@
+#########
+#      E#
+# # #####
+# # #   #
+# ### # #
+#     # #
+####### #
+#S      #
+#########
diff --git a/game/data/maze3d/Level_13.txt b/game/data/maze3d/Level_13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a09f980e3f394571b75dc4a270d092322f5920f3
--- /dev/null
+++ b/game/data/maze3d/Level_13.txt
@@ -0,0 +1,11 @@
+###########
+#S#       #
+# # ### # #
+# #   # # #
+# ##### # #
+#     # # #
+##### # ###
+#   # #   #
+# ### ### #
+#        E#
+###########
diff --git a/game/data/maze3d/Level_14.txt b/game/data/maze3d/Level_14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0c1c0e204eb1ab8ea7ab57f8a3463f45298bc736
--- /dev/null
+++ b/game/data/maze3d/Level_14.txt
@@ -0,0 +1,11 @@
+###########
+#S        #
+######### #
+#         #
+# #########
+# #       #
+# ####### #
+#         #
+######### #
+#        E#
+###########
diff --git a/game/data/maze3d/Level_15.txt b/game/data/maze3d/Level_15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e747097a0490519592a94fefcd12c2251b342626
--- /dev/null
+++ b/game/data/maze3d/Level_15.txt
@@ -0,0 +1,11 @@
+###########
+#S  # #   #
+### # # # #
+#   # # # #
+# ### # # #
+#   #   # #
+### ##### #
+# #     # #
+# ##### # #
+#        E#
+###########
diff --git a/game/data/maze3d/Level_16.txt b/game/data/maze3d/Level_16.txt
new file mode 100644
index 0000000000000000000000000000000000000000..10bbc0c59b867dd6cba15e29f0ae52ce40f3840e
--- /dev/null
+++ b/game/data/maze3d/Level_16.txt
@@ -0,0 +1,11 @@
+###########
+#S#       #
+# # # ### #
+# # # #   #
+# # # # ###
+# # # # # #
+# ### # # #
+#     #   #
+######### #
+#        E#
+###########
diff --git a/game/data/maze3d/Level_17.txt b/game/data/maze3d/Level_17.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5e73ef4ad6519c422171a7ecfb99e2068dd857b2
--- /dev/null
+++ b/game/data/maze3d/Level_17.txt
@@ -0,0 +1,11 @@
+###########
+#S#     # #
+# # ### # #
+# # #   # #
+# # # ### #
+# # # #   #
+# # # ### #
+#   #     #
+######### #
+#        E#
+###########
diff --git a/game/data/maze3d/Level_18.txt b/game/data/maze3d/Level_18.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e12378b81a8fa54bf6d4f5169b7a415fa8ba4986
--- /dev/null
+++ b/game/data/maze3d/Level_18.txt
@@ -0,0 +1,13 @@
+#############
+#S#         #
+# # ####### #
+# #     #   #
+# # ### #####
+# #   #     #
+# ### ##### #
+# # #   #   #
+# # ### # ###
+# #     #   #
+# ######### #
+#          E#
+#############
diff --git a/game/data/maze3d/Level_19.txt b/game/data/maze3d/Level_19.txt
new file mode 100644
index 0000000000000000000000000000000000000000..01d90e4c35a2d6af08f41d938767e9101679266b
--- /dev/null
+++ b/game/data/maze3d/Level_19.txt
@@ -0,0 +1,13 @@
+#############
+#S        # #
+######### # #
+# #     #   #
+# # # ##### #
+# # #     # #
+# # ##### # #
+# # #   # # #
+# # # # # # #
+#   # # # # #
+# ##### # # #
+#       #  E#
+#############
diff --git a/game/data/maze3d/Level_20.txt b/game/data/maze3d/Level_20.txt
new file mode 100644
index 0000000000000000000000000000000000000000..94862275f018223b57e8388b0c82475e0ec4b95b
--- /dev/null
+++ b/game/data/maze3d/Level_20.txt
@@ -0,0 +1,13 @@
+#############
+#S# #       #
+# # # ### ###
+# #     #   #
+# ######### #
+# #       # #
+# # ##### # #
+#   #   # # #
+##### # # # #
+#     # # # #
+# # ##### # #
+# #        E#
+#############
diff --git a/game/data/maze3d/__pycache__/generate.cpython-313.pyc b/game/data/maze3d/__pycache__/generate.cpython-313.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..eb3a9d443901c7f15e69dedc9d27dc286fe26944
Binary files /dev/null and b/game/data/maze3d/__pycache__/generate.cpython-313.pyc differ
diff --git a/game/data/maze3d/generate.py b/game/data/maze3d/generate.py
new file mode 100644
index 0000000000000000000000000000000000000000..60296712ac172491b6023ef2ee3b1eee4ce2fb56
--- /dev/null
+++ b/game/data/maze3d/generate.py
@@ -0,0 +1,202 @@
+import os
+import random
+import collections
+import matplotlib.pyplot as plt
+import numpy as np
+OUTPUT_DIR = 'D:\\work\\agent\\3Dplanning\\spatial_planning_game\\data\\maze3d'
+WALL = '#'
+EMPTY = ' '
+START = 'S'
+EXIT = 'E'
+if not os.path.exists(OUTPUT_DIR):
+    os.makedirs(OUTPUT_DIR)
+
+def _generate_single_attempt(width, height, straightness, dead_end_removal, difficulty):
+    grid = [[WALL for _ in range(width)] for _ in range(height)]
+    sx, sy = (1, 1)
+    ex, ey = (width - 2, height - 2)
+    obstacle_coords = set()
+    if width >= 15:
+        raw_len = int(min(width, height) * (0.05 + difficulty * 0.15))
+        safe_limit = min(width, height) // 4
+        protrude_len = max(2, min(raw_len, safe_limit))
+        start_top_x = 5
+        start_left_y = 5
+        end_bottom_x = width - 6
+        end_right_y = height - 6
+        if start_top_x < width - 2:
+            for i in range(protrude_len):
+                obstacle_coords.add((start_top_x, 1 + i))
+        if start_left_y < height - 2:
+            for i in range(protrude_len):
+                obstacle_coords.add((1 + i, start_left_y))
+        if end_bottom_x > 2:
+            for i in range(protrude_len):
+                obstacle_coords.add((end_bottom_x, height - 2 - i))
+        if end_right_y > 2:
+            for i in range(protrude_len):
+                obstacle_coords.add((width - 2 - i, end_right_y))
+    if width > 13:
+        area = width * height
+        density_base = 0.005 if width < 21 else 0.01
+        num_random = int(area * density_base * (1 + difficulty * 2))
+        num_random = min(num_random, area // 15)
+        for _ in range(num_random):
+            cx = random.randrange(3, width - 3, 2)
+            cy = random.randrange(3, height - 3, 2)
+            if abs(cx - sx) + abs(cy - sy) > 4 and abs(cx - ex) + abs(cy - ey) > 4:
+                obstacle_coords.add((cx, cy))
+    grid[sy][sx] = START
+    visited = set([(sx, sy)]) | obstacle_coords
+    stack = [(sx, sy, 0, 0)]
+    directions = [(0, -2), (0, 2), (-2, 0), (2, 0)]
+    while stack:
+        cx, cy, last_dx, last_dy = stack[-1]
+        neighbors = []
+        for dx, dy in directions:
+            nx, ny = (cx + dx, cy + dy)
+            if 1 <= nx < width - 1 and 1 <= ny < height - 1:
+                if (nx, ny) not in visited:
+                    neighbors.append((nx, ny, dx, dy))
+        if neighbors:
+            same_dir_n = next((n for n in neighbors if n[2] == last_dx and n[3] == last_dy), None)
+            if same_dir_n and random.random() < straightness:
+                chosen = same_dir_n
+            else:
+                chosen = random.choice(neighbors)
+            nx, ny, dx, dy = chosen
+            grid[cy + dy // 2][cx + dx // 2] = EMPTY
+            grid[ny][nx] = EMPTY
+            visited.add((nx, ny))
+            stack.append((nx, ny, dx, dy))
+        else:
+            stack.pop()
+    grid[ey][ex] = EXIT
+    if dead_end_removal > 0:
+        dead_ends = []
+        for y in range(1, height - 1):
+            for x in range(1, width - 1):
+                if grid[y][x] == EMPTY:
+                    w_count = sum((1 for dx, dy in [(0, 1), (0, -1), (1, 0), (-1, 0)] if grid[y + dy][x + dx] == WALL))
+                    if w_count == 3:
+                        dead_ends.append((x, y))
+        random.shuffle(dead_ends)
+        remove_count = int(len(dead_ends) * dead_end_removal)
+        for i in range(remove_count):
+            dx, dy = dead_ends[i]
+            valid_n = []
+            for nx, ny in [(0, 1), (0, -1), (1, 0), (-1, 0)]:
+                tx, ty = (dx + nx, dy + ny)
+                if 1 <= tx < width - 1 and 1 <= ty < height - 1:
+                    if grid[ty][tx] == WALL and (tx, ty) not in obstacle_coords:
+                        valid_n.append((nx, ny))
+            if valid_n:
+                wx, wy = random.choice(valid_n)
+                grid[dy + wy][dx + wx] = EMPTY
+    return (grid, (sx, sy), (ex, ey), obstacle_coords)
+
+def solve_bfs(grid, width, height, start, end):
+    """Helpers."""
+    queue = collections.deque([[start]])
+    visited = set([start])
+    while queue:
+        path = queue.popleft()
+        cx, cy = path[-1]
+        if (cx, cy) == end:
+            return path
+        for dx, dy in [(0, 1), (0, -1), (1, 0), (-1, 0)]:
+            nx, ny = (cx + dx, cy + dy)
+            if 0 <= nx < width and 0 <= ny < height and (grid[ny][nx] != WALL) and ((nx, ny) not in visited):
+                visited.add((nx, ny))
+                new_path = list(path)
+                new_path.append((nx, ny))
+                queue.append(new_path)
+    return []
+
+def generate_maze_robust(width, height, straightness, removal, difficulty):
+    """Helpers."""
+    attempt = 0
+    while True:
+        attempt += 1
+        grid, start, end, obstacles = _generate_single_attempt(width, height, straightness, removal, difficulty)
+        if solve_bfs(grid, width, height, start, end):
+            return (grid, start, end, obstacles)
+        if attempt > 30:
+            return _generate_single_attempt(width, height, straightness, removal, 0.0)
+
+def hash_grid(grid, start, end):
+    """Helpers."""
+    grid_str = ''.join([''.join(row) for row in grid])
+    return f'{grid_str}|{start}|{end}'
+
+def save_unique_level(index, width, height, straightness, removal, difficulty, seen_hashes):
+    MAX_RETRIES = 50
+    for attempt in range(MAX_RETRIES):
+        grid, start, end, obstacles = generate_maze_robust(width, height, straightness, removal, difficulty)
+        if width == height and width < 10:
+            ops = random.choice(['none', 'flip_h', 'flip_v', 'transpose'])
+            if ops != 'none':
+                grid_np = np.array([list(r) for r in grid])
+                if ops == 'flip_h':
+                    grid_np = np.fliplr(grid_np)
+                    start = (width - 1 - start[0], start[1])
+                    end = (width - 1 - end[0], end[1])
+                elif ops == 'flip_v':
+                    grid_np = np.flipud(grid_np)
+                    start = (start[0], height - 1 - start[1])
+                    end = (end[0], height - 1 - end[1])
+                elif ops == 'transpose':
+                    grid_np = grid_np.T
+                    start = (start[1], start[0])
+                    end = (end[1], end[0])
+                grid = grid_np.tolist()
+        current_hash = hash_grid(grid, start, end)
+        if current_hash not in seen_hashes:
+            seen_hashes.add(current_hash)
+            filename_base = f'Level_{index + 1:02d}'
+            with open(os.path.join(OUTPUT_DIR, f'{filename_base}.txt'), 'w', encoding='utf-8') as f:
+                for line in grid:
+                    f.write(''.join(line) + '\n')
+            path = solve_bfs(grid, width, height, start, end)
+            matrix = np.zeros((height, width))
+            for y in range(height):
+                for x in range(width):
+                    if (x, y) in obstacles and width >= 13:
+                        matrix[y][x] = 0.3
+                    elif grid[y][x] == WALL:
+                        matrix[y][x] = 0.0
+                    else:
+                        matrix[y][x] = 1.0
+            plt.figure(figsize=(8, 8))
+            plt.imshow(matrix, cmap='gray', interpolation='nearest')
+            if path:
+                px, py = zip(*path)
+                plt.plot(px, py, color='red', linewidth=2, alpha=0.6)
+                plt.scatter(start[0], start[1], c='lime', s=100, label='Start')
+                plt.scatter(end[0], end[1], c='orange', s=100, label='Exit')
+            plt.title(f'Level {index + 1}: {width}x{height} | Obstacles: {len(obstacles)}')
+            plt.axis('off')
+            plt.savefig(os.path.join(OUTPUT_DIR, f'{filename_base}.png'), bbox_inches='tight')
+            plt.close()
+            return True
+    print(f'  [警告] Level {index + 1} ({width}x{height}): 尝试 {MAX_RETRIES} 次仍无法生成完全唯一的地图，保留最后一次结果。')
+    return True
+
+def main():
+    print(f'🚀 开始生成动态难度迷宫 (防重复增强版)...')
+    TOTAL_LEVELS = 20
+    MIN_SIZE, MAX_SIZE = (5, 13)
+    seen_hashes = set()
+    for i in range(TOTAL_LEVELS):
+        t = i / (TOTAL_LEVELS - 1)
+        size = int(MIN_SIZE + t * (MAX_SIZE - MIN_SIZE))
+        if size % 2 == 0:
+            size += 1
+        difficulty = t
+        straightness = 0.85 - t * 0.5
+        removal = 0.5 - t * 0.4
+        save_unique_level(i, size, size, straightness, removal, difficulty, seen_hashes)
+        print(f'  [进度 {i + 1}/{TOTAL_LEVELS}] 已生成 {size}x{size} 关卡')
+    print(f'\n✅ 全部完成！文件已保存至: {OUTPUT_DIR}')
+if __name__ == '__main__':
+    main()
\ No newline at end of file
diff --git a/game/data/maze3d_pro/Level_01.txt b/game/data/maze3d_pro/Level_01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3d934111b66fcbd985cdd109093ea7f1a765a25d
--- /dev/null
+++ b/game/data/maze3d_pro/Level_01.txt
@@ -0,0 +1,11 @@
+#####
+#S  #
+# # #
+#E T#
+#####
+===
+#####
+#   #
+# # #
+#  T#
+#####
diff --git a/game/data/maze3d_pro/Level_02.txt b/game/data/maze3d_pro/Level_02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2189f253627046c4095325c24fe2e41f4bcaac0c
--- /dev/null
+++ b/game/data/maze3d_pro/Level_02.txt
@@ -0,0 +1,11 @@
+#####
+#S# #
+#   #
+#  T#
+#####
+===
+#####
+#  E#
+# # #
+#  T#
+#####
diff --git a/game/data/maze3d_pro/Level_03.txt b/game/data/maze3d_pro/Level_03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..732320681f4e1c007d27ba18ebfea3096484de12
--- /dev/null
+++ b/game/data/maze3d_pro/Level_03.txt
@@ -0,0 +1,11 @@
+#####
+#S  #
+# # #
+# ET#
+#####
+===
+#####
+#   #
+# # #
+# #T#
+#####
diff --git a/game/data/maze3d_pro/Level_04.txt b/game/data/maze3d_pro/Level_04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6137f97127f7e7084f9db428d9e3da610d9493bc
--- /dev/null
+++ b/game/data/maze3d_pro/Level_04.txt
@@ -0,0 +1,11 @@
+#####
+#S  #
+# # #
+#  T#
+#####
+===
+#####
+#   #
+# ###
+#E T#
+#####
diff --git a/game/data/maze3d_pro/Level_05.txt b/game/data/maze3d_pro/Level_05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..84492a57e7e4854b5e4949050545bfb7e1006d69
--- /dev/null
+++ b/game/data/maze3d_pro/Level_05.txt
@@ -0,0 +1,15 @@
+#######
+#S#   #
+# # ###
+# #   #
+# ### #
+#  T  #
+#######
+===
+#######
+#E    #
+# # # #
+# # # #
+# #   #
+# #T# #
+#######
diff --git a/game/data/maze3d_pro/Level_06.txt b/game/data/maze3d_pro/Level_06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..90046b36789a93f098d16f006cf5738e1dfe6e10
--- /dev/null
+++ b/game/data/maze3d_pro/Level_06.txt
@@ -0,0 +1,15 @@
+#######
+#S#   #
+# # # #
+# # #T#
+# # # #
+#E  # #
+#######
+===
+#######
+#     #
+# ### #
+# # #T#
+# # # #
+#     #
+#######
diff --git a/game/data/maze3d_pro/Level_07.txt b/game/data/maze3d_pro/Level_07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ff01a22d2e705a621ce7e67687086e7cf1ba45d4
--- /dev/null
+++ b/game/data/maze3d_pro/Level_07.txt
@@ -0,0 +1,15 @@
+#######
+#S    #
+##### #
+#   #T#
+# ### #
+#E    #
+#######
+===
+#######
+#     #
+# #####
+#    T#
+# ## ##
+#     #
+#######
diff --git a/game/data/maze3d_pro/Level_08.txt b/game/data/maze3d_pro/Level_08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f3ef25967ddd0ec2df1bfbcf5d1e1f3570696958
--- /dev/null
+++ b/game/data/maze3d_pro/Level_08.txt
@@ -0,0 +1,15 @@
+#######
+#S    #
+##### #
+#   # #
+# # # #
+#T#   #
+#######
+===
+#######
+#     #
+# # # #
+# #E# #
+### # #
+#T    #
+#######
diff --git a/game/data/maze3d_pro/Level_09.txt b/game/data/maze3d_pro/Level_09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2003646ddf2cc9d6d1d357c272da212721c0ed39
--- /dev/null
+++ b/game/data/maze3d_pro/Level_09.txt
@@ -0,0 +1,15 @@
+#######
+#S#   #
+# # # #
+#  T  #
+##### #
+#     #
+#######
+===
+#######
+#   E #
+# ### #
+# #T# #
+# # # #
+#   # #
+#######
diff --git a/game/data/maze3d_pro/Level_10.txt b/game/data/maze3d_pro/Level_10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..461635f35322b43ffeb0a72a8b0352ab07471b0a
--- /dev/null
+++ b/game/data/maze3d_pro/Level_10.txt
@@ -0,0 +1,15 @@
+#######
+#S    #
+### # #
+# #T# #
+# # # #
+#     #
+#######
+===
+#######
+#     #
+# ### #
+# #T# #
+#E# # #
+#   # #
+#######
diff --git a/game/data/maze3d_pro/Level_11.txt b/game/data/maze3d_pro/Level_11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8cdc7b2d42173f8adc426e25cf6be81e4b890e0c
--- /dev/null
+++ b/game/data/maze3d_pro/Level_11.txt
@@ -0,0 +1,19 @@
+#########
+#S#     #
+# # ### #
+# # # # #
+# # # # #
+# #T  # #
+# ##### #
+#       #
+#########
+===
+#########
+# # E   #
+# # ### #
+#     # #
+# ## ## #
+# #T    #
+# #######
+#       #
+#########
diff --git a/game/data/maze3d_pro/Level_12.txt b/game/data/maze3d_pro/Level_12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f9bcd9634ebbd434f77c296d672f757fbf3af936
--- /dev/null
+++ b/game/data/maze3d_pro/Level_12.txt
@@ -0,0 +1,19 @@
+#########
+#S      #
+####### #
+#    T# #
+# # # # #
+# # # # #
+# # ### #
+# #     #
+#########
+===
+#########
+# #     #
+# # ### #
+#   #T# #
+# ### # #
+#   # # #
+### # # #
+#  E#   #
+#########
diff --git a/game/data/maze3d_pro/Level_13.txt b/game/data/maze3d_pro/Level_13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..971f2d55b8b804783a72d07e58262049635b9bb8
--- /dev/null
+++ b/game/data/maze3d_pro/Level_13.txt
@@ -0,0 +1,19 @@
+#########
+#S#     #
+# ##### #
+#    T  #
+####### #
+#     # #
+#E##### #
+#       #
+#########
+===
+#########
+#       #
+# ##### #
+# # #T  #
+# # #####
+# #     #
+# ##### #
+#       #
+#########
diff --git a/game/data/maze3d_pro/Level_14.txt b/game/data/maze3d_pro/Level_14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..867c027e06a3b810ac2b45d5828b381679dd5fcd
--- /dev/null
+++ b/game/data/maze3d_pro/Level_14.txt
@@ -0,0 +1,19 @@
+#########
+#S#     #
+# # # # #
+# # # # #
+# # # ###
+# # #   #
+# ##### #
+#  T    #
+#########
+===
+#########
+#       #
+# #####E#
+# #     #
+# #######
+#       #
+# ##### #
+# #T    #
+#########
diff --git a/game/data/maze3d_pro/Level_15.txt b/game/data/maze3d_pro/Level_15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..85402cba4e0646897ffab17ce042637c0b05a75e
--- /dev/null
+++ b/game/data/maze3d_pro/Level_15.txt
@@ -0,0 +1,19 @@
+#########
+#S  #   #
+### ### #
+# #   #T#
+# ### # #
+# #   # #
+# # ### #
+# E     #
+#########
+===
+#########
+#       #
+# ##### #
+#     #T#
+##### ###
+#   # # #
+# ### # #
+#       #
+#########
diff --git a/game/data/maze3d_pro/Level_16.txt b/game/data/maze3d_pro/Level_16.txt
new file mode 100644
index 0000000000000000000000000000000000000000..007071c6393187502c8cb1317e9d7b17f11e6383
--- /dev/null
+++ b/game/data/maze3d_pro/Level_16.txt
@@ -0,0 +1,19 @@
+#########
+#S      #
+####### #
+#     # #
+# # ### #
+# # #  T#
+# ### ###
+#       #
+#########
+===
+#########
+#   #   #
+### # # #
+#   # # #
+# ### # #
+#   # #T#
+# # # ###
+# #E    #
+#########
diff --git a/game/data/maze3d_pro/Level_17.txt b/game/data/maze3d_pro/Level_17.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e0d8ba5d4f3145feb6d7fdb34ef4bbd91f50ed5e
--- /dev/null
+++ b/game/data/maze3d_pro/Level_17.txt
@@ -0,0 +1,23 @@
+###########
+#S#       #
+# # ##### #
+# #     # #
+# ####### #
+#      T E#
+######### #
+#       # #
+# # ##### #
+# #       #
+###########
+===
+###########
+#   #     #
+# # # # ###
+# # # #   #
+# ### ### #
+#     #T# #
+# ##### # #
+# #   #   #
+# ### #####
+#         #
+###########
diff --git a/game/data/maze3d_pro/Level_18.txt b/game/data/maze3d_pro/Level_18.txt
new file mode 100644
index 0000000000000000000000000000000000000000..987d4bc71bc09f7450cc7decd975913886e35acf
--- /dev/null
+++ b/game/data/maze3d_pro/Level_18.txt
@@ -0,0 +1,23 @@
+###########
+#S#       #
+# # ##### #
+# # #    T#
+# # # #####
+# # # #   #
+# # # # ###
+# # # #   #
+# # # ### #
+#   #     #
+###########
+===
+###########
+#   #     #
+# # ### ###
+#E# #   #T#
+# # # # # #
+# # # # # #
+# # # ### #
+# #   #   #
+# ##### ###
+#         #
+###########
diff --git a/game/data/maze3d_pro/Level_19.txt b/game/data/maze3d_pro/Level_19.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b3d70c2b61d20ae7af54580095c162b0e39c0e52
--- /dev/null
+++ b/game/data/maze3d_pro/Level_19.txt
@@ -0,0 +1,23 @@
+###########
+#S    #   #
+##### ### #
+#   #     #
+# ####### #
+#    T  # #
+# ### ### #
+# # # #   #
+# # # # ###
+#   #     #
+###########
+===
+###########
+#     #   #
+# ### # # #
+# # # # # #
+# # # # # #
+# # #T# # #
+# # ### # #
+#E#   # # #
+# # # # # #
+#   #   # #
+###########
diff --git a/game/data/maze3d_pro/Level_20.txt b/game/data/maze3d_pro/Level_20.txt
new file mode 100644
index 0000000000000000000000000000000000000000..71750fc6068d5de17ce31cecc5325444d5fb692d
--- /dev/null
+++ b/game/data/maze3d_pro/Level_20.txt
@@ -0,0 +1,23 @@
+###########
+#S        #
+######### #
+#     #T  #
+# ### # ###
+# #   # # #
+# # ### # #
+#E#   # # #
+# ##### # #
+#         #
+###########
+===
+###########
+#         #
+# ####### #
+# #    T# #
+# # ##### #
+# # #     #
+# # ##### #
+# #       #
+# #########
+#         #
+###########
diff --git a/game/data/maze3d_pro/__pycache__/generate.cpython-313.pyc b/game/data/maze3d_pro/__pycache__/generate.cpython-313.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..efdc103d21f606a9fdb60a3a0cb8d0f29a9d1821
Binary files /dev/null and b/game/data/maze3d_pro/__pycache__/generate.cpython-313.pyc differ
diff --git a/game/data/maze3d_pro/generate.py b/game/data/maze3d_pro/generate.py
new file mode 100644
index 0000000000000000000000000000000000000000..76931a2ef1f226ad88a86925399f71585ca54a39
--- /dev/null
+++ b/game/data/maze3d_pro/generate.py
@@ -0,0 +1,218 @@
+import os
+import random
+import collections
+import matplotlib.pyplot as plt
+import numpy as np
+OUTPUT_DIR = 'D:\\work\\agent\\3Dplanning\\spatial_planning_game\\data\\maze3d_pro'
+WALL = '#'
+EMPTY = ' '
+START = 'S'
+EXIT = 'E'
+STAIR = 'T'
+if not os.path.exists(OUTPUT_DIR):
+    os.makedirs(OUTPUT_DIR)
+
+def _generate_single_floor(width, height, straightness, dead_end_removal, difficulty, entry_pos, exit_stair_pos=None):
+    """Helpers."""
+    grid = [[WALL for _ in range(width)] for _ in range(height)]
+    sx, sy = entry_pos
+    obstacle_coords = set()
+    if width >= 15:
+        raw_len = int(min(width, height) * (0.05 + difficulty * 0.15))
+        safe_limit = min(width, height) // 4
+        protrude_len = max(2, min(raw_len, safe_limit))
+        potential_obstacles = []
+    if width > 13:
+        area = width * height
+        density_base = 0.005 if width < 21 else 0.01
+        num_random = int(area * density_base * (1 + difficulty * 2))
+        num_random = min(num_random, area // 15)
+        for _ in range(num_random):
+            cx = random.randrange(3, width - 3, 2)
+            cy = random.randrange(3, height - 3, 2)
+            dist_start = abs(cx - sx) + abs(cy - sy)
+            dist_exit = 999
+            if exit_stair_pos:
+                dist_exit = abs(cx - exit_stair_pos[0]) + abs(cy - exit_stair_pos[1])
+            if dist_start > 4 and dist_exit > 4:
+                obstacle_coords.add((cx, cy))
+    visited = set([(sx, sy)]) | obstacle_coords
+    stack = [(sx, sy, 0, 0)]
+    directions = [(0, -2), (0, 2), (-2, 0), (2, 0)]
+    while stack:
+        cx, cy, last_dx, last_dy = stack[-1]
+        neighbors = []
+        for dx, dy in directions:
+            nx, ny = (cx + dx, cy + dy)
+            if 1 <= nx < width - 1 and 1 <= ny < height - 1:
+                if (nx, ny) not in visited:
+                    neighbors.append((nx, ny, dx, dy))
+        if neighbors:
+            same_dir_n = next((n for n in neighbors if n[2] == last_dx and n[3] == last_dy), None)
+            if same_dir_n and random.random() < straightness:
+                chosen = same_dir_n
+            else:
+                chosen = random.choice(neighbors)
+            nx, ny, dx, dy = chosen
+            grid[cy + dy // 2][cx + dx // 2] = EMPTY
+            grid[ny][nx] = EMPTY
+            visited.add((nx, ny))
+            stack.append((nx, ny, dx, dy))
+        else:
+            stack.pop()
+    if exit_stair_pos:
+        ex, ey = exit_stair_pos
+        grid[ey][ex] = EMPTY
+        for dx, dy in [(0, 1), (0, -1), (1, 0), (-1, 0)]:
+            if grid[ey + dy][ex + dx] == EMPTY:
+                break
+        else:
+            grid[ey][ex - 1] = EMPTY
+    if dead_end_removal > 0:
+        dead_ends = []
+        for y in range(1, height - 1):
+            for x in range(1, width - 1):
+                if grid[y][x] == EMPTY:
+                    w_count = sum((1 for dx, dy in [(0, 1), (0, -1), (1, 0), (-1, 0)] if grid[y + dy][x + dx] == WALL))
+                    if w_count == 3:
+                        dead_ends.append((x, y))
+        random.shuffle(dead_ends)
+        remove_count = int(len(dead_ends) * dead_end_removal)
+        for i in range(remove_count):
+            dx, dy = dead_ends[i]
+            valid_n = []
+            for nx, ny in [(0, 1), (0, -1), (1, 0), (-1, 0)]:
+                tx, ty = (dx + nx, dy + ny)
+                if 1 <= tx < width - 1 and 1 <= ty < height - 1:
+                    if grid[ty][tx] == WALL and (tx, ty) not in obstacle_coords:
+                        valid_n.append((nx, ny))
+            if valid_n:
+                wx, wy = random.choice(valid_n)
+                grid[dy + wy][dx + wx] = EMPTY
+    return (grid, obstacle_coords)
+
+def generate_3d_tower(width, height, straightness, removal, difficulty, num_floors=3):
+    """Helpers."""
+    floors_data = []
+    all_obstacles = []
+    possible_xs = list(range(1, width - 1, 2))
+    possible_ys = list(range(1, height - 1, 2))
+
+    def get_random_pos(exclude_pos=None):
+        while True:
+            px = random.choice(possible_xs)
+            py = random.choice(possible_ys)
+            if exclude_pos and abs(px - exclude_pos[0]) + abs(py - exclude_pos[1]) < 4:
+                continue
+            return (px, py)
+    connections = []
+    current_start = (1, 1)
+    for i in range(num_floors):
+        is_top = i == num_floors - 1
+        if is_top:
+            target_pos = None
+        else:
+            target_pos = get_random_pos(exclude_pos=current_start)
+        connections.append((current_start, target_pos))
+        current_start = target_pos
+    for i in range(num_floors):
+        entry, exit_stair = connections[i]
+        grid, obstacles = _generate_single_floor(width, height, straightness, removal, difficulty, entry_pos=entry, exit_stair_pos=exit_stair)
+        if i == 0:
+            grid[entry[1]][entry[0]] = START
+        else:
+            grid[entry[1]][entry[0]] = STAIR
+        if exit_stair:
+            grid[exit_stair[1]][exit_stair[0]] = STAIR
+        floors_data.append(grid)
+        all_obstacles.append(obstacles)
+    valid_exit_placed = False
+    attempt_count = 0
+    while not valid_exit_placed and attempt_count < 100:
+        target_floor_idx = random.randint(0, num_floors - 1)
+        candidates = []
+        target_grid = floors_data[target_floor_idx]
+        for y in range(height):
+            for x in range(width):
+                char = target_grid[y][x]
+                if char == EMPTY:
+                    entry_pos = connections[target_floor_idx][0]
+                    if abs(x - entry_pos[0]) + abs(y - entry_pos[1]) > width // 3:
+                        candidates.append((x, y))
+        if candidates:
+            ex, ey = random.choice(candidates)
+            target_grid[ey][ex] = EXIT
+            valid_exit_placed = True
+            print(f'   -> 终点设置在第 {target_floor_idx + 1} 层 ({ex}, {ey})')
+        attempt_count += 1
+    return (floors_data, all_obstacles)
+
+def save_3d_level(index, width, height, straightness, removal, difficulty):
+    num_floors = random.choice([2, 3, 4])
+    if width < 15:
+        num_floors = 2
+    floors, obstacles = generate_3d_tower(width, height, straightness, removal, difficulty, num_floors)
+    filename_base = f'Level_{index + 1:02d}'
+    txt_path = os.path.join(OUTPUT_DIR, f'{filename_base}.txt')
+    with open(txt_path, 'w', encoding='utf-8') as f:
+        for i, grid in enumerate(floors):
+            if i > 0:
+                f.write('===\n')
+            for line in grid:
+                f.write(''.join(line) + '\n')
+    fig, axes = plt.subplots(1, num_floors, figsize=(4 * num_floors, 4))
+    if num_floors == 1:
+        axes = [axes]
+    for i, ax in enumerate(axes):
+        grid = floors[i]
+        obs = obstacles[i]
+        matrix = np.zeros((height, width))
+        start_pt = None
+        exit_pt = None
+        stair_pts = []
+        for y in range(height):
+            for x in range(width):
+                char = grid[y][x]
+                if (x, y) in obs:
+                    matrix[y][x] = 0.3
+                elif char == WALL:
+                    matrix[y][x] = 0.0
+                else:
+                    matrix[y][x] = 1.0
+                if char == START:
+                    start_pt = (x, y)
+                elif char == EXIT:
+                    exit_pt = (x, y)
+                elif char == STAIR:
+                    stair_pts.append((x, y))
+        ax.imshow(matrix, cmap='gray', interpolation='nearest')
+        if start_pt:
+            ax.scatter(start_pt[0], start_pt[1], c='lime', s=100, label='Start', zorder=5)
+        if exit_pt:
+            ax.scatter(exit_pt[0], exit_pt[1], c='orange', s=100, label='Exit', zorder=5)
+        if stair_pts:
+            xs, ys = zip(*stair_pts)
+            ax.scatter(xs, ys, c='cyan', s=80, marker='s', label='Stair', zorder=5)
+        ax.set_title(f'Floor {i + 1}')
+        ax.axis('off')
+    plt.suptitle(f'Level {index + 1}: {width}x{height} x {num_floors} Floors', fontsize=14)
+    plt.savefig(os.path.join(OUTPUT_DIR, f'{filename_base}.png'), bbox_inches='tight')
+    plt.close()
+
+def main():
+    print(f'🚀 开始生成 3D 楼层迷宫 (上下楼模式)...')
+    TOTAL_LEVELS = 20
+    MIN_SIZE, MAX_SIZE = (5, 11)
+    for i in range(TOTAL_LEVELS):
+        t = i / (TOTAL_LEVELS - 1)
+        size = int(MIN_SIZE + t * (MAX_SIZE - MIN_SIZE))
+        if size % 2 == 0:
+            size += 1
+        difficulty = t
+        straightness = 0.9 - t * 0.6
+        removal = 0.6 - t * 0.5
+        save_3d_level(i, size, size, straightness, removal, difficulty)
+        print(f'  [进度 {i + 1}/{TOTAL_LEVELS}] 已生成 Level {i + 1}')
+    print(f'\n✅ 全部完成！文件已保存至: {OUTPUT_DIR}')
+if __name__ == '__main__':
+    main()
\ No newline at end of file
diff --git a/game/data/maze3d_pro_bridge/Level_Bridge_01.txt b/game/data/maze3d_pro_bridge/Level_Bridge_01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8698da3bd305e5880316ba9297a09ec64b67a57a
--- /dev/null
+++ b/game/data/maze3d_pro_bridge/Level_Bridge_01.txt
@@ -0,0 +1,15 @@
+#########
+#S###  T#
+# ### # #
+#T### # #
+# ### # #
+# ###  E#
+#########
+===
+#########
+#   #  T#
+# # # # #
+#T#   # #
+### ### #
+#       #
+#########
diff --git a/game/data/maze3d_pro_bridge/Level_Bridge_02.txt b/game/data/maze3d_pro_bridge/Level_Bridge_02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..993aa0d3a9fee0d79eb04e3665a57da5872b5031
--- /dev/null
+++ b/game/data/maze3d_pro_bridge/Level_Bridge_02.txt
@@ -0,0 +1,15 @@
+#########
+#S###   #
+# ### ###
+#  T# #T#
+# ### # #
+# ###  E#
+#########
+===
+#########
+#   #   #
+# # # ###
+# #T#  T#
+# ##### #
+#       #
+#########
diff --git a/game/data/maze3d_pro_bridge/Level_Bridge_03.txt b/game/data/maze3d_pro_bridge/Level_Bridge_03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eb976841ac9939e44e07a922041d5d70b311938b
--- /dev/null
+++ b/game/data/maze3d_pro_bridge/Level_Bridge_03.txt
@@ -0,0 +1,19 @@
+#########
+#S###   #
+# ### # #
+# ### # #
+# ### ###
+#  T#  T#
+# ### # #
+# ###E  #
+#########
+===
+#########
+#       #
+# ##### #
+#       #
+# ##### #
+# #T   T#
+# #######
+#       #
+#########
diff --git a/game/data/maze3d_pro_bridge/Level_Bridge_04.txt b/game/data/maze3d_pro_bridge/Level_Bridge_04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6d861f7b750e8dcc9c3be8445266b6cdc959bacf
--- /dev/null
+++ b/game/data/maze3d_pro_bridge/Level_Bridge_04.txt
@@ -0,0 +1,19 @@
+#########
+#S###E  #
+# ### # #
+#  T# # #
+# ### # #
+# ### # #
+# ### ###
+# ###  T#
+#########
+===
+#########
+#       #
+# ### # #
+# #T# # #
+# # # # #
+# # # # #
+# # # # #
+#     #T#
+#########
diff --git a/game/data/maze3d_pro_bridge/Level_Bridge_05.txt b/game/data/maze3d_pro_bridge/Level_Bridge_05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..116934bdf1a200ff62060129e5c11ed0a9bf9e98
--- /dev/null
+++ b/game/data/maze3d_pro_bridge/Level_Bridge_05.txt
@@ -0,0 +1,19 @@
+#########
+#S###E  #
+# ### # #
+# ### #T#
+# ### ###
+# ### # #
+# ### # #
+#T###   #
+#########
+===
+#########
+#       #
+### # # #
+#   # #T#
+# ### # #
+# # # # #
+# # # # #
+#T#     #
+#########
diff --git a/game/data/maze3d_pro_bridge/Level_Bridge_06.txt b/game/data/maze3d_pro_bridge/Level_Bridge_06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9bb7ad49aa1c23f44f95760c474050f8d490a2fb
--- /dev/null
+++ b/game/data/maze3d_pro_bridge/Level_Bridge_06.txt
@@ -0,0 +1,23 @@
+###########
+#S# ###   #
+# # ### ###
+# # ###   #
+# # ##### #
+# # ###T#E#
+# # ### # #
+#T# ### # #
+# # ### # #
+#   ###   #
+###########
+===
+###########
+#         #
+# # ##### #
+# # #     #
+# # # ### #
+# # #  T  #
+### # #####
+#T# #     #
+# # ##### #
+#   #     #
+###########
diff --git a/game/data/maze3d_pro_bridge/Level_Bridge_07.txt b/game/data/maze3d_pro_bridge/Level_Bridge_07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1820619835f8ee876f816d2c5b1805be494822df
--- /dev/null
+++ b/game/data/maze3d_pro_bridge/Level_Bridge_07.txt
@@ -0,0 +1,23 @@
+###########
+#S# ###T# #
+# # ### # #
+# # ###   #
+# # ##### #
+# # ### # #
+# # ### # #
+#   ### # #
+### ### # #
+#  T###  E#
+###########
+===
+###########
+#   #  T  #
+# # ##### #
+# # #     #
+# # # ### #
+# # # #   #
+# # # # ###
+# #   # # #
+# ### # # #
+#  T#     #
+###########
diff --git a/game/data/maze3d_pro_bridge/Level_Bridge_08.txt b/game/data/maze3d_pro_bridge/Level_Bridge_08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0890f25844eb171ece393484ec6b9916f1693ef1
--- /dev/null
+++ b/game/data/maze3d_pro_bridge/Level_Bridge_08.txt
@@ -0,0 +1,23 @@
+###########
+#S# ###   #
+# # ### # #
+# # ###E#T#
+# # ### ###
+# # ### # #
+# # ### # #
+# #T### # #
+# # ### # #
+#   ###   #
+###########
+===
+###########
+#         #
+######### #
+#        T#
+# #########
+#         #
+# ####### #
+# #T      #
+# #########
+#         #
+###########
diff --git a/game/data/maze3d_pro_bridge/Level_Bridge_09.txt b/game/data/maze3d_pro_bridge/Level_Bridge_09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e6d4db8619a8d19a9672f6bfd9fa5d7740f3d108
--- /dev/null
+++ b/game/data/maze3d_pro_bridge/Level_Bridge_09.txt
@@ -0,0 +1,27 @@
+#############
+#S  ###     #
+### ### ### #
+# #T### # #E#
+# # ### # # #
+# # ### # # #
+# # ### # # #
+# # ###T# # #
+# # ##### # #
+# # ###   # #
+# # ### # # #
+#   ### #   #
+#############
+===
+#############
+#           #
+# ### ##### #
+# #T#     # #
+# # ##### # #
+# # #     # #
+# # ####### #
+# #    T    #
+# ###########
+# #         #
+# ##### ### #
+#       #   #
+#############
diff --git a/game/data/maze3d_pro_bridge/Level_Bridge_10.txt b/game/data/maze3d_pro_bridge/Level_Bridge_10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4126df99c3001ef9e7c8aaa0798bc13266fa3a40
--- /dev/null
+++ b/game/data/maze3d_pro_bridge/Level_Bridge_10.txt
@@ -0,0 +1,27 @@
+#############
+#S# ###E    #
+# # ### # # #
+#   ### # # #
+### ##### # #
+# #  T#   # #
+# # ### ### #
+# # ### #   #
+# # ### ### #
+# # ###   # #
+# # ### # # #
+#   ### #  T#
+#############
+===
+#############
+#     #     #
+# ### # ### #
+#   #   # # #
+# # ### # # #
+# #  T#   # #
+# # ### ### #
+# # #   #   #
+# # # ### # #
+# # #   # # #
+# # ##### # #
+# #       #T#
+#############
diff --git a/game/data/maze3d_pro_bridge/__pycache__/generate.cpython-313.pyc b/game/data/maze3d_pro_bridge/__pycache__/generate.cpython-313.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..b0ae47abde2e05256080cf762e0ad4e945e71cd8
Binary files /dev/null and b/game/data/maze3d_pro_bridge/__pycache__/generate.cpython-313.pyc differ
diff --git a/game/data/maze3d_pro_bridge/generate.py b/game/data/maze3d_pro_bridge/generate.py
new file mode 100644
index 0000000000000000000000000000000000000000..0ebb7dac26fb3f812a92bf9587aec35d9c07132d
--- /dev/null
+++ b/game/data/maze3d_pro_bridge/generate.py
@@ -0,0 +1,197 @@
+import os
+import random
+import matplotlib.pyplot as plt
+import numpy as np
+OUTPUT_DIR = 'D:\\work\\agent\\3Dplanning\\spatial_planning_game\\data\\maze3d_pro_bridge'
+WALL = '#'
+EMPTY = ' '
+START = 'S'
+EXIT = 'E'
+STAIR = 'T'
+if not os.path.exists(OUTPUT_DIR):
+    os.makedirs(OUTPUT_DIR)
+
+def _generate_single_floor(width, height, straightness, dead_end_removal, difficulty, entry_pos, target_pos=None, bounds=None):
+    """Helpers."""
+    grid = [[WALL for _ in range(width)] for _ in range(height)]
+    if bounds is None:
+        min_x, max_x, min_y, max_y = (0, width, 0, height)
+    else:
+        min_x, max_x, min_y, max_y = bounds
+    sx, sy = entry_pos
+    visited = set([(sx, sy)])
+    stack = [(sx, sy, 0, 0)]
+    base_directions = [(0, -2), (0, 2), (-2, 0), (2, 0)]
+    while stack:
+        cx, cy, last_dx, last_dy = stack[-1]
+        neighbors = []
+        random.shuffle(base_directions)
+        for dx, dy in base_directions:
+            nx, ny = (cx + dx, cy + dy)
+            if min_x < nx < max_x - 1 and min_y < ny < max_y - 1:
+                if (nx, ny) not in visited:
+                    neighbors.append((nx, ny, dx, dy))
+        if neighbors:
+            same_dir_n = next((n for n in neighbors if n[2] == last_dx and n[3] == last_dy), None)
+            if same_dir_n and random.random() < straightness:
+                chosen = same_dir_n
+            else:
+                chosen = random.choice(neighbors)
+            nx, ny, dx, dy = chosen
+            grid[cy + dy // 2][cx + dx // 2] = EMPTY
+            grid[ny][nx] = EMPTY
+            visited.add((nx, ny))
+            stack.append((nx, ny, dx, dy))
+        else:
+            stack.pop()
+    if target_pos:
+        ex, ey = target_pos
+        grid[ey][ex] = EMPTY
+        if (ex, ey) not in visited:
+            found_conn = False
+            for dx, dy in [(0, 1), (0, -1), (1, 0), (-1, 0)]:
+                tx, ty = (ex + dx, ey + dy)
+                if min_x < tx < max_x - 1 and min_y < ty < max_y - 1:
+                    if grid[ty][tx] == EMPTY:
+                        grid[ey][ex] = EMPTY
+                        found_conn = True
+                        break
+            if not found_conn:
+                if ex > min_x + 1:
+                    grid[ey][ex - 1] = EMPTY
+    if dead_end_removal > 0:
+        dead_ends = []
+        for y in range(min_y + 1, max_y - 1):
+            for x in range(min_x + 1, max_x - 1):
+                if grid[y][x] == EMPTY:
+                    w_count = sum((1 for dx, dy in [(0, 1), (0, -1), (1, 0), (-1, 0)] if grid[y + dy][x + dx] == WALL))
+                    if w_count == 3:
+                        dead_ends.append((x, y))
+        random.shuffle(dead_ends)
+        remove_count = int(len(dead_ends) * dead_end_removal)
+        for i in range(remove_count):
+            dx, dy = dead_ends[i]
+            valid_n = []
+            for nx, ny in [(0, 1), (0, -1), (1, 0), (-1, 0)]:
+                tx, ty = (dx + nx, dy + ny)
+                if min_x < tx < max_x - 1 and min_y < ty < max_y - 1:
+                    if grid[ty][tx] == WALL:
+                        valid_n.append((nx, ny))
+            if valid_n:
+                wx, wy = random.choice(valid_n)
+                grid[dy + wy][dx + wx] = EMPTY
+    return grid
+
+def generate_bridge_tower(width, height, straightness, removal, difficulty):
+    """Helpers."""
+    num_floors = 2
+    floors_grids = []
+    split_x = width // 2
+    if split_x % 2 != 0:
+        split_x += 1
+    if split_x >= width - 2:
+        split_x = width - 3
+
+    def get_valid_pos(x_min, x_max, y_min, y_max):
+        candidates = []
+        for y in range(y_min, y_max, 2):
+            for x in range(x_min, x_max, 2):
+                candidates.append((x, y))
+        return random.choice(candidates)
+    start_pos = (1, 1)
+    stair_up_pos = get_valid_pos(1, split_x, 1, height - 1)
+    while stair_up_pos == start_pos:
+        stair_up_pos = get_valid_pos(1, split_x, 1, height - 1)
+    stair_down_landing_pos = get_valid_pos(split_x + 1, width - 1, 1, height - 1)
+    exit_pos = get_valid_pos(split_x + 1, width - 1, 1, height - 1)
+    while exit_pos == stair_down_landing_pos:
+        exit_pos = get_valid_pos(split_x + 1, width - 1, 1, height - 1)
+    grid_floor0 = [[WALL for _ in range(width)] for _ in range(height)]
+    left_sub_grid = _generate_single_floor(width, height, straightness, removal, difficulty, entry_pos=start_pos, target_pos=stair_up_pos, bounds=(0, split_x, 0, height))
+    right_sub_grid = _generate_single_floor(width, height, straightness, removal, difficulty, entry_pos=stair_down_landing_pos, target_pos=exit_pos, bounds=(split_x, width, 0, height))
+    for y in range(height):
+        for x in range(1, split_x):
+            grid_floor0[y][x] = left_sub_grid[y][x]
+    for y in range(height):
+        for x in range(split_x + 1, width - 1):
+            grid_floor0[y][x] = right_sub_grid[y][x]
+    grid_floor0[start_pos[1]][start_pos[0]] = START
+    grid_floor0[stair_up_pos[1]][stair_up_pos[0]] = STAIR
+    grid_floor0[stair_down_landing_pos[1]][stair_down_landing_pos[0]] = STAIR
+    grid_floor0[exit_pos[1]][exit_pos[0]] = EXIT
+    grid_floor1 = _generate_single_floor(width, height, straightness, removal, difficulty, entry_pos=stair_up_pos, target_pos=stair_down_landing_pos, bounds=None)
+    grid_floor1[stair_up_pos[1]][stair_up_pos[0]] = STAIR
+    grid_floor1[stair_down_landing_pos[1]][stair_down_landing_pos[0]] = STAIR
+    return [grid_floor0, grid_floor1]
+
+def save_bridge_level(index, width, height, straightness, removal, difficulty):
+    if width < 9:
+        width = 9
+    floors = generate_bridge_tower(width, height, straightness, removal, difficulty)
+    num_floors = len(floors)
+    filename_base = f'Level_Bridge_{index + 1:02d}'
+    txt_path = os.path.join(OUTPUT_DIR, f'{filename_base}.txt')
+    with open(txt_path, 'w', encoding='utf-8') as f:
+        for i, grid in enumerate(floors):
+            if i > 0:
+                f.write('===\n')
+            for line in grid:
+                f.write(''.join(line) + '\n')
+    fig, axes = plt.subplots(1, num_floors, figsize=(5 * num_floors, 5))
+    if num_floors == 1:
+        axes = [axes]
+    for i, ax in enumerate(axes):
+        grid = floors[i]
+        matrix = np.zeros((height, width))
+        start_pt, exit_pt = (None, None)
+        stair_pts = []
+        for y in range(height):
+            for x in range(width):
+                char = grid[y][x]
+                if char == WALL:
+                    matrix[y][x] = 0.0
+                else:
+                    matrix[y][x] = 1.0
+                if char == START:
+                    start_pt = (x, y)
+                elif char == EXIT:
+                    exit_pt = (x, y)
+                elif char == STAIR:
+                    stair_pts.append((x, y))
+        ax.imshow(matrix, cmap='gray', interpolation='nearest', vmin=0, vmax=1)
+        if i == 0:
+            split_x = width // 2
+            if split_x % 2 != 0:
+                split_x += 1
+            ax.axvline(x=split_x, color='red', linestyle='--', alpha=0.5, label='Divider')
+        if start_pt:
+            ax.scatter(start_pt[0], start_pt[1], c='lime', s=120, edgecolors='black', label='Start', zorder=10)
+        if exit_pt:
+            ax.scatter(exit_pt[0], exit_pt[1], c='red', s=120, edgecolors='black', label='Exit', zorder=10)
+        if stair_pts:
+            xs, ys = zip(*stair_pts)
+            ax.scatter(xs, ys, c='cyan', s=80, marker='s', edgecolors='black', label='Stair', zorder=5)
+        ax.set_title(f"Floor {i + 1} {('(Bridge)' if i == 1 else '(Split)')}")
+        ax.axis('off')
+    plt.suptitle(f'Bridge Level {index + 1}: Must go via Floor 2', fontsize=14)
+    plt.tight_layout()
+    plt.savefig(os.path.join(OUTPUT_DIR, f'{filename_base}.png'), bbox_inches='tight', dpi=100)
+    plt.close()
+
+def main():
+    print(f"🚀 开始生成 '断桥式' 迷宫 (必须经过二楼)...")
+    TOTAL_LEVELS = 10
+    MIN_SIZE, MAX_SIZE = (7, 13)
+    for i in range(TOTAL_LEVELS):
+        t = i / (TOTAL_LEVELS - 1) if TOTAL_LEVELS > 1 else 0
+        size = int(MIN_SIZE + t * (MAX_SIZE - MIN_SIZE))
+        if size % 2 == 0:
+            size += 1
+        difficulty = t
+        straightness = 0.8 - t * 0.4
+        removal = 0.5 - t * 0.3
+        save_bridge_level(i, size, size, straightness, removal, difficulty)
+        print(f'  [进度 {i + 1}/{TOTAL_LEVELS}] 已生成 {size}x{size}')
+    print(f'\n✅ 全部完成！文件已保存至: {OUTPUT_DIR}')
+if __name__ == '__main__':
+    main()
\ No newline at end of file
diff --git a/game/data/maze3d_pro_merge/Level_01.txt b/game/data/maze3d_pro_merge/Level_01.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3d934111b66fcbd985cdd109093ea7f1a765a25d
--- /dev/null
+++ b/game/data/maze3d_pro_merge/Level_01.txt
@@ -0,0 +1,11 @@
+#####
+#S  #
+# # #
+#E T#
+#####
+===
+#####
+#   #
+# # #
+#  T#
+#####
diff --git a/game/data/maze3d_pro_merge/Level_02.txt b/game/data/maze3d_pro_merge/Level_02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2189f253627046c4095325c24fe2e41f4bcaac0c
--- /dev/null
+++ b/game/data/maze3d_pro_merge/Level_02.txt
@@ -0,0 +1,11 @@
+#####
+#S# #
+#   #
+#  T#
+#####
+===
+#####
+#  E#
+# # #
+#  T#
+#####
diff --git a/game/data/maze3d_pro_merge/Level_03.txt b/game/data/maze3d_pro_merge/Level_03.txt
new file mode 100644
index 0000000000000000000000000000000000000000..732320681f4e1c007d27ba18ebfea3096484de12
--- /dev/null
+++ b/game/data/maze3d_pro_merge/Level_03.txt
@@ -0,0 +1,11 @@
+#####
+#S  #
+# # #
+# ET#
+#####
+===
+#####
+#   #
+# # #
+# #T#
+#####
diff --git a/game/data/maze3d_pro_merge/Level_04.txt b/game/data/maze3d_pro_merge/Level_04.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6137f97127f7e7084f9db428d9e3da610d9493bc
--- /dev/null
+++ b/game/data/maze3d_pro_merge/Level_04.txt
@@ -0,0 +1,11 @@
+#####
+#S  #
+# # #
+#  T#
+#####
+===
+#####
+#   #
+# ###
+#E T#
+#####
diff --git a/game/data/maze3d_pro_merge/Level_05.txt b/game/data/maze3d_pro_merge/Level_05.txt
new file mode 100644
index 0000000000000000000000000000000000000000..84492a57e7e4854b5e4949050545bfb7e1006d69
--- /dev/null
+++ b/game/data/maze3d_pro_merge/Level_05.txt
@@ -0,0 +1,15 @@
+#######
+#S#   #
+# # ###
+# #   #
+# ### #
+#  T  #
+#######
+===
+#######
+#E    #
+# # # #
+# # # #
+# #   #
+# #T# #
+#######
diff --git a/game/data/maze3d_pro_merge/Level_06.txt b/game/data/maze3d_pro_merge/Level_06.txt
new file mode 100644
index 0000000000000000000000000000000000000000..90046b36789a93f098d16f006cf5738e1dfe6e10
--- /dev/null
+++ b/game/data/maze3d_pro_merge/Level_06.txt
@@ -0,0 +1,15 @@
+#######
+#S#   #
+# # # #
+# # #T#
+# # # #
+#E  # #
+#######
+===
+#######
+#     #
+# ### #
+# # #T#
+# # # #
+#     #
+#######
diff --git a/game/data/maze3d_pro_merge/Level_07.txt b/game/data/maze3d_pro_merge/Level_07.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ff01a22d2e705a621ce7e67687086e7cf1ba45d4
--- /dev/null
+++ b/game/data/maze3d_pro_merge/Level_07.txt
@@ -0,0 +1,15 @@
+#######
+#S    #
+##### #
+#   #T#
+# ### #
+#E    #
+#######
+===
+#######
+#     #
+# #####
+#    T#
+# ## ##
+#     #
+#######
diff --git a/game/data/maze3d_pro_merge/Level_08.txt b/game/data/maze3d_pro_merge/Level_08.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f3ef25967ddd0ec2df1bfbcf5d1e1f3570696958
--- /dev/null
+++ b/game/data/maze3d_pro_merge/Level_08.txt
@@ -0,0 +1,15 @@
+#######
+#S    #
+##### #
+#   # #
+# # # #
+#T#   #
+#######
+===
+#######
+#     #
+# # # #
+# #E# #
+### # #
+#T    #
+#######
diff --git a/game/data/maze3d_pro_merge/Level_09.txt b/game/data/maze3d_pro_merge/Level_09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2003646ddf2cc9d6d1d357c272da212721c0ed39
--- /dev/null
+++ b/game/data/maze3d_pro_merge/Level_09.txt
@@ -0,0 +1,15 @@
+#######
+#S#   #
+# # # #
+#  T  #
+##### #
+#     #
+#######
+===
+#######
+#   E #
+# ### #
+# #T# #
+# # # #
+#   # #
+#######
diff --git a/game/data/maze3d_pro_merge/Level_10.txt b/game/data/maze3d_pro_merge/Level_10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..461635f35322b43ffeb0a72a8b0352ab07471b0a
--- /dev/null
+++ b/game/data/maze3d_pro_merge/Level_10.txt
@@ -0,0 +1,15 @@
+#######
+#S    #
+### # #
+# #T# #
+# # # #
+#     #
+#######
+===
+#######
+#     #
+# ### #
+# #T# #
+#E# # #
+#   # #
+#######
diff --git a/game/data/maze3d_pro_merge/Level_11.txt b/game/data/maze3d_pro_merge/Level_11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8cdc7b2d42173f8adc426e25cf6be81e4b890e0c
--- /dev/null
+++ b/game/data/maze3d_pro_merge/Level_11.txt
@@ -0,0 +1,19 @@
+#########
+#S#     #
+# # ### #
+# # # # #
+# # # # #
+# #T  # #
+# ##### #
+#       #
+#########
+===
+#########
+# # E   #
+# # ### #
+#     # #
+# ## ## #
+# #T    #
+# #######
+#       #
+#########
diff --git a/game/data/maze3d_pro_merge/Level_12.txt b/game/data/maze3d_pro_merge/Level_12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f9bcd9634ebbd434f77c296d672f757fbf3af936
--- /dev/null
+++ b/game/data/maze3d_pro_merge/Level_12.txt
@@ -0,0 +1,19 @@
+#########
+#S      #
+####### #
+#    T# #
+# # # # #
+# # # # #
+# # ### #
+# #     #
+#########
+===
+#########
+# #     #
+# # ### #
+#   #T# #
+# ### # #
+#   # # #
+### # # #
+#  E#   #
+#########
diff --git a/game/data/maze3d_pro_merge/Level_13.txt b/game/data/maze3d_pro_merge/Level_13.txt
new file mode 100644
index 0000000000000000000000000000000000000000..971f2d55b8b804783a72d07e58262049635b9bb8
--- /dev/null
+++ b/game/data/maze3d_pro_merge/Level_13.txt
@@ -0,0 +1,19 @@
+#########
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diff --git a/game/data/maze3d_pro_merge/Level_14.txt b/game/data/maze3d_pro_merge/Level_14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..867c027e06a3b810ac2b45d5828b381679dd5fcd
--- /dev/null
+++ b/game/data/maze3d_pro_merge/Level_14.txt
@@ -0,0 +1,19 @@
+#########
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diff --git a/game/data/maze3d_pro_merge/Level_15.txt b/game/data/maze3d_pro_merge/Level_15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..85402cba4e0646897ffab17ce042637c0b05a75e
--- /dev/null
+++ b/game/data/maze3d_pro_merge/Level_15.txt
@@ -0,0 +1,19 @@
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diff --git a/game/data/maze3d_pro_merge/Level_16.txt b/game/data/maze3d_pro_merge/Level_16.txt
new file mode 100644
index 0000000000000000000000000000000000000000..007071c6393187502c8cb1317e9d7b17f11e6383
--- /dev/null
+++ b/game/data/maze3d_pro_merge/Level_16.txt
@@ -0,0 +1,19 @@
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diff --git a/game/data/maze3d_pro_merge/Level_17.txt b/game/data/maze3d_pro_merge/Level_17.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e0d8ba5d4f3145feb6d7fdb34ef4bbd91f50ed5e
--- /dev/null
+++ b/game/data/maze3d_pro_merge/Level_17.txt
@@ -0,0 +1,23 @@
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diff --git a/game/data/maze3d_pro_merge/Level_18.txt b/game/data/maze3d_pro_merge/Level_18.txt
new file mode 100644
index 0000000000000000000000000000000000000000..987d4bc71bc09f7450cc7decd975913886e35acf
--- /dev/null
+++ b/game/data/maze3d_pro_merge/Level_18.txt
@@ -0,0 +1,23 @@
+###########
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diff --git a/game/data/maze3d_pro_merge/Level_19.txt b/game/data/maze3d_pro_merge/Level_19.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b3d70c2b61d20ae7af54580095c162b0e39c0e52
--- /dev/null
+++ b/game/data/maze3d_pro_merge/Level_19.txt
@@ -0,0 +1,23 @@
+###########
+#S    #   #
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diff --git a/game/data/maze3d_pro_merge/Level_20.txt b/game/data/maze3d_pro_merge/Level_20.txt
new file mode 100644
index 0000000000000000000000000000000000000000..71750fc6068d5de17ce31cecc5325444d5fb692d
--- /dev/null
+++ b/game/data/maze3d_pro_merge/Level_20.txt
@@ -0,0 +1,23 @@
+###########
+#S        #
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diff --git a/game/data/maze3d_pro_merge/Level_21.txt b/game/data/maze3d_pro_merge/Level_21.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8698da3bd305e5880316ba9297a09ec64b67a57a
--- /dev/null
+++ b/game/data/maze3d_pro_merge/Level_21.txt
@@ -0,0 +1,15 @@
+#########
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diff --git a/game/data/maze3d_pro_merge/Level_22.txt b/game/data/maze3d_pro_merge/Level_22.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eb976841ac9939e44e07a922041d5d70b311938b
--- /dev/null
+++ b/game/data/maze3d_pro_merge/Level_22.txt
@@ -0,0 +1,19 @@
+#########
+#S###   #
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diff --git a/game/data/maze3d_pro_merge/Level_23.txt b/game/data/maze3d_pro_merge/Level_23.txt
new file mode 100644
index 0000000000000000000000000000000000000000..116934bdf1a200ff62060129e5c11ed0a9bf9e98
--- /dev/null
+++ b/game/data/maze3d_pro_merge/Level_23.txt
@@ -0,0 +1,19 @@
+#########
+#S###E  #
+# ### # #
+# ### #T#
+# ### ###
+# ### # #
+# ### # #
+#T###   #
+#########
+===
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+### # # #
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diff --git a/game/data/maze3d_pro_merge/Level_24.txt b/game/data/maze3d_pro_merge/Level_24.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1820619835f8ee876f816d2c5b1805be494822df
--- /dev/null
+++ b/game/data/maze3d_pro_merge/Level_24.txt
@@ -0,0 +1,23 @@
+###########
+#S# ###T# #
+# # ### # #
+# # ###   #
+# # ##### #
+# # ### # #
+# # ### # #
+#   ### # #
+### ### # #
+#  T###  E#
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+===
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+# # # #   #
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diff --git a/game/data/maze3d_pro_merge/Level_25.txt b/game/data/maze3d_pro_merge/Level_25.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e6d4db8619a8d19a9672f6bfd9fa5d7740f3d108
--- /dev/null
+++ b/game/data/maze3d_pro_merge/Level_25.txt
@@ -0,0 +1,27 @@
+#############
+#S  ###     #
+### ### ### #
+# #T### # #E#
+# # ### # # #
+# # ### # # #
+# # ### # # #
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+#       #   #
+#############
diff --git a/game/data/rubik_cube/__init__.py b/game/data/rubik_cube/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/game/data/rubik_cube/__pycache__/__init__.cpython-313.pyc b/game/data/rubik_cube/__pycache__/__init__.cpython-313.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..efe6d56fa709053d681a8deb7847154687020371
Binary files /dev/null and b/game/data/rubik_cube/__pycache__/__init__.cpython-313.pyc differ
diff --git a/game/data/rubik_cube/__pycache__/generate.cpython-313.pyc b/game/data/rubik_cube/__pycache__/generate.cpython-313.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..cf049896908337634f680f2d8b130d0ad2cf8596
Binary files /dev/null and b/game/data/rubik_cube/__pycache__/generate.cpython-313.pyc differ
diff --git a/game/data/rubik_cube/__pycache__/scramble_data.cpython-313.pyc b/game/data/rubik_cube/__pycache__/scramble_data.cpython-313.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..dd8589ec4dee495035d54eb4369085215fe767bf
Binary files /dev/null and b/game/data/rubik_cube/__pycache__/scramble_data.cpython-313.pyc differ
diff --git a/game/data/rubik_cube/generate.py b/game/data/rubik_cube/generate.py
new file mode 100644
index 0000000000000000000000000000000000000000..a1e93d6f924f1818246ef1b02f7aac93b3a52ee2
--- /dev/null
+++ b/game/data/rubik_cube/generate.py
@@ -0,0 +1,35 @@
+import random
+import os
+
+def generate_data_and_save(num_samples=20, filename='scramble_data.py'):
+    """Helpers."""
+    DIRECTIONS = ['CLOCKWISE', 'ANTICLOCKWISE']
+    FACES = ['FRONT', 'RIGHT', 'UP', 'LEFT', 'DOWN', 'BACK']
+    raw_sequences = []
+    for _ in range(num_samples):
+        steps = random.randint(1, 4)
+        sequence = []
+        for _ in range(steps):
+            face = random.choice(FACES)
+            direction = random.choice(DIRECTIONS)
+            sequence.append((direction, face))
+        raw_sequences.append(sequence)
+    raw_sequences.sort(key=lambda x: len(x))
+    file_content = '"""\n魔方打乱数据 (已按难度排序，键名为数字索引)\n"""\n\n'
+    file_content += 'INITIAL_CONFIGS = {\n'
+    for i, moves in enumerate(raw_sequences):
+        file_content += f'    "{i + 1}": [\n'
+        for move in moves:
+            file_content += f'        {repr(move)},\n'
+        file_content += '    ],\n'
+    file_content += '}\n'
+    try:
+        with open(filename, 'w', encoding='utf-8') as f:
+            f.write(file_content)
+        print(f'✅ 生成成功！')
+        print(f'📄 文件名: {filename}')
+        print(f'📊 数据量: {num_samples} 组 (已按 1->4 步排序)')
+    except IOError as e:
+        print(f'❌ 保存失败: {e}')
+if __name__ == '__main__':
+    generate_data_and_save(num_samples=20)
\ No newline at end of file
diff --git a/game/data/rubik_cube/scramble_data.py b/game/data/rubik_cube/scramble_data.py
new file mode 100644
index 0000000000000000000000000000000000000000..8351a4bb0124256d874b80d96e8b52dc1911c9e5
--- /dev/null
+++ b/game/data/rubik_cube/scramble_data.py
@@ -0,0 +1,2 @@
+"""Helpers."""
+INITIAL_CONFIGS = {'1': [('ANTICLOCKWISE', 'DOWN')], '2': [('ANTICLOCKWISE', 'DOWN')], '3': [('ANTICLOCKWISE', 'FRONT')], '4': [('CLOCKWISE', 'LEFT')], '5': [('CLOCKWISE', 'BACK')], '6': [('ANTICLOCKWISE', 'UP'), ('CLOCKWISE', 'RIGHT')], '7': [('CLOCKWISE', 'RIGHT'), ('CLOCKWISE', 'BACK')], '8': [('ANTICLOCKWISE', 'LEFT'), ('CLOCKWISE', 'FRONT')], '9': [('ANTICLOCKWISE', 'FRONT'), ('ANTICLOCKWISE', 'RIGHT')], '10': [('CLOCKWISE', 'BACK'), ('ANTICLOCKWISE', 'DOWN')], '11': [('ANTICLOCKWISE', 'UP'), ('CLOCKWISE', 'DOWN')], '12': [('CLOCKWISE', 'DOWN'), ('CLOCKWISE', 'LEFT'), ('CLOCKWISE', 'DOWN')], '13': [('CLOCKWISE', 'FRONT'), ('CLOCKWISE', 'UP'), ('ANTICLOCKWISE', 'LEFT')], '14': [('ANTICLOCKWISE', 'DOWN'), ('CLOCKWISE', 'UP'), ('ANTICLOCKWISE', 'RIGHT')], '15': [('CLOCKWISE', 'BACK'), ('ANTICLOCKWISE', 'RIGHT'), ('CLOCKWISE', 'UP')], '16': [('ANTICLOCKWISE', 'BACK'), ('ANTICLOCKWISE', 'DOWN'), ('ANTICLOCKWISE', 'BACK')], '17': [('CLOCKWISE', 'BACK'), ('CLOCKWISE', 'UP'), ('ANTICLOCKWISE', 'LEFT')], '18': [('ANTICLOCKWISE', 'DOWN'), ('ANTICLOCKWISE', 'DOWN'), ('CLOCKWISE', 'UP'), ('CLOCKWISE', 'FRONT')], '19': [('ANTICLOCKWISE', 'FRONT'), ('CLOCKWISE', 'DOWN'), ('ANTICLOCKWISE', 'LEFT'), ('ANTICLOCKWISE', 'FRONT')], '20': [('ANTICLOCKWISE', 'UP'), ('CLOCKWISE', 'UP'), ('ANTICLOCKWISE', 'BACK'), ('ANTICLOCKWISE', 'UP')]}
diff --git a/procthor/tasks/AGENT_IN_ROOM_EXAMPLE.md b/procthor/tasks/AGENT_IN_ROOM_EXAMPLE.md
new file mode 100644
index 0000000000000000000000000000000000000000..23a43c411e1e9d1818d4705840fdb3bec52e6a3e
--- /dev/null
+++ b/procthor/tasks/AGENT_IN_ROOM_EXAMPLE.md
@@ -0,0 +1,123 @@
+# Intelligent Room Location Determination Configuration Guide
+
+## basic format
+
+在 `task.json` 的 `success_conditions` 中添加 `agent_in_room` 条件：
+
+```json
+{
+  "type": "agent_in_room",
+  "room_type": "Kitchen"
+}
+```
+
+## Comparison with object_in_room
+
+### The object is in the room (object_type needs to be specified)
+
+```json
+{
+  "type": "object_in_room",
+  "object_type": "TeddyBear",  // 必须指定物体类型
+  "room_type": "Bedroom"
+}
+```
+
+### The agent is in the room (no object_type required)
+
+```json
+{
+  "type": "agent_in_room",
+  "room_type": "Kitchen"  // 只需要指定房间类型
+}
+```
+
+## Complete example
+
+### Example 1: Check only the agent position
+
+```json
+{
+  "task_id": "procthor00004",
+  "task_name": "Go to kitchen",
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "Kitchen"
+    }
+  ],
+  "success_logic": "AND"
+}
+```
+
+### Example 2: Combined condition (agent + object)
+
+```json
+{
+  "task_id": "procthor00005",
+  "task_name": "Move TeddyBear to bedroom and stay in kitchen",
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "TeddyBear",
+      "room_type": "Bedroom"
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "Kitchen"
+    }
+  ],
+  "success_logic": "AND"
+}
+```
+
+### Example 3: Multiple condition combinations
+
+```json
+{
+  "task_id": "procthor00006",
+  "task_name": "Complete task in bedroom",
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "Bedroom"
+    },
+    {
+      "type": "object_state",
+      "object_type": "Fridge",
+      "state": "isOpen",
+      "value": true
+    },
+    {
+      "type": "object_in_room",
+      "object_type": "Apple",
+      "room_type": "Kitchen"
+    }
+  ],
+  "success_logic": "AND"
+}
+```
+
+## Supported room types
+
+- `Kitchen` - 厨房
+- `Bathroom` - 浴室
+- `Bedroom` - 卧室
+- `LivingRoom` - 客厅
+- `DiningRoom` - 餐厅
+- 其他房间类型（根据场景而定）
+
+**注意**：房间名称大小写不敏感，`"Kitchen"` 和 `"kitchen"` 都可以。
+
+## Implementation principle
+
+`agent_in_room` 条件使用 **floorPolygon（精确多边形）** 来判断智能体所在的房间：
+
+1. 获取智能体的 (x, z) 位置
+2. 使用 `_point_in_polygon()` 函数检查智能体是否在某个房间的多边形内
+3. 这是最准确的方法，直接来自 ProcTHOR 的场景数据
+
+## code location
+
+- **条件检查**：`evaluators/base.py` 第 321-388 行
+- **房间判断**：`evaluators/getters.py` 中的 `get_agent_room()` 函数
diff --git a/procthor/tasks/AGENT_NEAR_OBJECT_EXAMPLE.md b/procthor/tasks/AGENT_NEAR_OBJECT_EXAMPLE.md
new file mode 100644
index 0000000000000000000000000000000000000000..70012d5bef46c60150f7a0098fb1c850e313e1ab
--- /dev/null
+++ b/procthor/tasks/AGENT_NEAR_OBJECT_EXAMPLE.md
@@ -0,0 +1,168 @@
+# Configuration Guide for Agent Approach to Object Determination
+
+## basic format
+
+在 `task.json` 的 `success_conditions` 中添加 `agent_near_object` 条件：
+
+```json
+{
+  "type": "agent_near_object",
+  "object_type": "Bed",
+  "distance": 1.0
+}
+```
+
+## Parameter description
+
+- **`type`**: 必须为 `"agent_near_object"`
+- **`object_type`**: 目标物体类型（如 `"Bed"`, `"Fridge"`, `"Sofa"` 等）
+- **`distance`**: 最大距离（米），默认值为 `1.0`（如果未指定）
+
+## Complete example
+
+### Example 1: Move near the bed (within 1 meter)
+
+```json
+{
+  "task_id": "procthor00004",
+  "task_name": "Move to bed",
+  "instruction": "Move the agent to near the bed in the bedroom.",
+  "scene_index": 100,
+  "target_object_types": ["Bed"],
+  "success_conditions": [
+    {
+      "type": "agent_near_object",
+      "object_type": "Bed",
+      "distance": 1.0
+    }
+  ],
+  "success_logic": "AND",
+  "max_steps": 100
+}
+```
+
+### Example 2: Move near the refrigerator (within 0.5 meters, more strict)
+
+```json
+{
+  "task_id": "procthor00005",
+  "task_name": "Move close to fridge",
+  "instruction": "Move very close to the refrigerator.",
+  "success_conditions": [
+    {
+      "type": "agent_near_object",
+      "object_type": "Fridge",
+      "distance": 0.5
+    }
+  ],
+  "success_logic": "AND"
+}
+```
+
+### Example 3: Combined condition (move near bed + in bedroom)
+
+```json
+{
+  "task_id": "procthor00006",
+  "task_name": "Move to bed in bedroom",
+  "instruction": "Move to the bed in the bedroom.",
+  "success_conditions": [
+    {
+      "type": "agent_near_object",
+      "object_type": "Bed",
+      "distance": 1.0
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "Bedroom"
+    }
+  ],
+  "success_logic": "AND"
+}
+```
+
+### Example 4: Move near the sofa (within 2 meters, looser)
+
+```json
+{
+  "task_id": "procthor00007",
+  "task_name": "Move near sofa",
+  "instruction": "Move near the sofa in the living room.",
+  "success_conditions": [
+    {
+      "type": "agent_near_object",
+      "object_type": "Sofa",
+      "distance": 2.0
+    }
+  ],
+  "success_logic": "AND"
+}
+```
+
+## distance calculation method
+
+- **2D距离**：只计算 X 和 Z 坐标的距离，忽略 Y 轴（高度）
+- **公式**：`distance = sqrt((agent_x - object_x)² + (agent_z - object_z)²)`
+- **单位**：米（meters）
+
+## Supported object types
+
+支持所有 ProcTHOR 中的物体类型，例如：
+
+- **家具**：`Bed`, `Sofa`, `Chair`, `Table`, `CounterTop`
+- **电器**：`Fridge`, `Microwave`, `Stove`, `TV`
+- **容器**：`Cabinet`, `Drawer`, `Sink`
+- **其他**：任何在场景中存在的物体类型
+
+**注意**：支持语义变体，例如 `"Apple"` 也会匹配 `"AppleSliced"`。
+
+## Implementation principle
+
+1. 获取智能体的 (x, z) 位置
+2. 在场景中查找所有匹配 `object_type` 的对象（支持语义变体）
+3. 计算智能体到每个匹配对象的2D距离
+4. 如果最短距离 ≤ `distance`，返回成功（1.0），否则返回失败（0.0）
+
+## code location
+
+- **条件检查**：`evaluators/base.py` 第 445-490 行
+- **距离计算**：`evaluators/metrics.py` 中的 `check_agent_near_object()` 函数
+- **位置获取**：`evaluators/getters.py` 中的 `get_agent_position()` 函数
+
+## debugging information
+
+当评估时，会输出详细的调试信息：
+
+```
+检查智能体到 Bed 的距离:
+智能体位置: (6.75, 5.25)
+最近对象: Bed|1|2|3, 距离: 0.85m, 阈值: 1.00m
+✅ 智能体在 Bed 附近 (距离: 0.85m <= 1.00m)
+```
+
+## combination with other conditions
+
+`agent_near_object` 可以与其他条件组合使用：
+
+```json
+{
+  "success_conditions": [
+    {
+      "type": "agent_near_object",
+      "object_type": "Bed",
+      "distance": 1.0
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "Bedroom"
+    },
+    {
+      "type": "object_state",
+      "object_type": "Bed",
+      "state": "isOpen",
+      "value": false
+    }
+  ],
+  "success_logic": "AND"
+}
+```
diff --git a/procthor/tasks/TASK_EXAMPLE.md b/procthor/tasks/TASK_EXAMPLE.md
new file mode 100644
index 0000000000000000000000000000000000000000..f003b1b0cb506db3494ca303f0ae71fe99587668
--- /dev/null
+++ b/procthor/tasks/TASK_EXAMPLE.md
@@ -0,0 +1,136 @@
+# Task configuration example: Move teddy bear from bedroom to bathroom
+
+## Task description
+
+将泰迪熊（TeddyBear）从卧室（Bedroom）的床上移动到浴室（Bathroom）。
+
+## Success condition settings
+
+### Method 1: Check only the target room (recommended)
+
+```json
+{
+  "task_id": "procthor00003",
+  "task_name": "Move TeddyBear from Bedroom to Bathroom",
+  "instruction": "Move the TeddyBear from the bed in the bedroom to the bathroom.",
+  "scene_index": 100,
+  "target_object_types": ["TeddyBear"],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "TeddyBear",
+      "room_type": "Bathroom"
+    }
+  ],
+  "success_logic": "AND",
+  "max_steps": 100
+}
+```
+
+**说明**：
+- 只要泰迪熊在浴室（Bathroom）中，任务就成功
+- 不需要检查是否不在卧室，因为只要在浴室就满足了要求
+
+### Method 2: Combined conditions (more stringent)
+
+如果需要确保泰迪熊不在卧室，可以添加反向条件：
+
+```json
+{
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "TeddyBear",
+      "room_type": "Bathroom"
+    },
+    {
+      "type": "object_state",
+      "object_type": "TeddyBear",
+      "state": "isPickedUp",
+      "value": false
+    }
+  ],
+  "success_logic": "AND"
+}
+```
+
+**说明**：
+- 第一个条件：泰迪熊必须在浴室
+- 第二个条件：泰迪熊必须被放下（不在手中）
+
+## Code recognition ability
+
+✅ **代码已支持 `object_in_room` 条件**
+
+### Implementation method
+
+代码使用 **floorPolygon（精确多边形）** 来判断对象所在的房间：
+
+1. **优先使用 floorPolygon**：
+   - 获取对象的 (x, z) 位置
+   - 使用 `_point_in_polygon()` 函数检查对象是否在某个房间的多边形内
+   - 这是最准确的方法，直接来自 ProcTHOR 的场景数据
+
+2. **回退方案**：
+   - 如果 floorPolygon 不可用，会使用对象的 `roomType` 属性（如果存在）
+
+### code location
+
+- **条件检查**：`evaluators/base.py` 第 390-419 行
+- **房间判断**：`evaluators/getters.py` 中的 `_build_room_boundaries_from_house_scene()` 和 `_point_in_polygon()`
+
+## Usage example
+
+### Run task assessment
+
+```bash
+python scripts/evaluate_action_sequence.py \
+  --task-config tasks/procthor00003/task.json \
+  --action-sequence actions.json
+```
+
+### Use in code
+
+```python
+from envs.procthor_wrapper import ProcTHOREnvWrapper
+import json
+
+# Load task configuration
+with open('tasks/procthor00003/task.json', 'r') as f:
+    task_config = json.load(f)
+
+# Create environment
+env = ProcTHOREnvWrapper(
+    scene_index=task_config['scene_index'],
+    config={'task': task_config}
+)
+
+# Reset environment
+observation = env.reset(task_config['instruction'])
+
+# Execute action sequence...
+# ...
+
+# Assessment tasks
+from evaluators.base import create_evaluator_from_config
+evaluator = create_evaluator_from_config(task_config)
+score = evaluator.evaluate(env, env.controller.last_event.metadata)
+print(f"任务得分: {score}")
+```
+
+## Things to note
+
+1. **房间名称大小写**：代码支持大小写不敏感匹配，`"Bathroom"` 和 `"bathroom"` 都可以
+
+2. **对象类型匹配**：支持语义变体，例如 `"Apple"` 也会匹配 `"AppleSliced"`
+
+3. **多个对象**：如果有多个相同类型的对象，只要有一个满足条件就会返回成功
+
+4. **对象位置**：使用对象的 `position` 字段中的 `x` 和 `z` 坐标来判断房间
+
+## Other available success condition types
+
+- `object_state`: 检查对象状态（如 `isOpen`, `isPickedUp` 等）
+- `object_in_hand`: 检查对象是否在手中
+- `object_in_receptacle`: 检查对象是否在容器中
+- `agent_in_room`: 检查智能体是否在指定房间
diff --git a/procthor/tasks/procthor000/task.json b/procthor/tasks/procthor000/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ea1ffacf3a05bbcb0716cd0ea5d35ef33888472
--- /dev/null
+++ b/procthor/tasks/procthor000/task.json
@@ -0,0 +1,86 @@
+{
+  "task_id": "procthor000",
+  "task_name": "Bedside Tomato Delivery",
+  "instruction": "I'm planning to eat a tomato in bed. Could you go get a tomato and wait by my bedside?",
+  "golden_actions": {
+    "steps": 48,
+    "actions": [
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "PickupObject(Tomato)",
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "LookDown",
+      "Done"
+    ]
+  },
+  "scene_index": 100,
+  "target_object_types": [
+    "Bed",
+    "Tomato"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Tomato",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "Bedroom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Bed",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm planning to eat a tomato in bed. Could you go get a tomato and wait by my bedside?",
+  "max_steps": 106,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor001/task.json b/procthor/tasks/procthor001/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..964a4e4f28549c6b804ec58778aeff89d99c2423
--- /dev/null
+++ b/procthor/tasks/procthor001/task.json
@@ -0,0 +1,57 @@
+{
+  "task_id": "procthor001",
+  "task_name": "Bathroom Toilet On & Return",
+  "instruction": "I need to use the toilet. Please go to the bathroom, turn on the toilet, and then return to the bedroom.",
+  "golden_actions": {
+    "steps": 25,
+    "actions": [
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "LookDown",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "OpenObject(Toilet)",
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "Done"
+    ]
+  },
+  "scene_index": 100,
+  "target_object_types": [
+    "Toilet"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Toilet",
+      "state": "isOpen",
+      "value": true
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "Bedroom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I need to use the toilet. Please go to the bathroom, turn on the toilet, and then return to the bedroom.",
+  "max_steps": 60,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor002/task.json b/procthor/tasks/procthor002/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..017e823c9d9564cec2553621a363d298ad9ecdee
--- /dev/null
+++ b/procthor/tasks/procthor002/task.json
@@ -0,0 +1,75 @@
+{
+  "task_id": "procthor002",
+  "task_name": "Sofa Nap Pillow & Wait",
+  "instruction": "I'd like to take a nap on the sofa. Please bring a pillow and wait for me next to the sofa.",
+  "golden_actions": {
+    "steps": 37,
+    "actions": [
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "PickupObject(Pillow)",
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "LookDown",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "Done"
+    ]
+  },
+  "scene_index": 100,
+  "target_object_types": [
+    "Sofa",
+    "Pillow"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Pillow",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Sofa",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'd like to take a nap on the sofa. Please bring a pillow and wait for me next to the sofa.",
+  "max_steps": 84,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor003/task.json b/procthor/tasks/procthor003/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..78a8130f90b3c36d48fee7e8273ad0ba1496fc91
--- /dev/null
+++ b/procthor/tasks/procthor003/task.json
@@ -0,0 +1,77 @@
+{
+  "task_id": "procthor003",
+  "task_name": "Phone Handoff & Wait by Sofa",
+  "instruction": "I'm using my phone on the sofa. Please take my phone and wait for me next to the sofa.",
+  "golden_actions": {
+    "steps": 39,
+    "actions": [
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "LookDown",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "PickupObject(CellPhone)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 100,
+  "target_object_types": [
+    "Sofa",
+    "CellPhone"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "CellPhone",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Sofa",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm using my phone on the sofa. Please take my phone and wait for me next to the sofa.",
+  "max_steps": 88,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor004/task.json b/procthor/tasks/procthor004/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fdededf73ae461ad69c14e816d825bf9c3d9efa
--- /dev/null
+++ b/procthor/tasks/procthor004/task.json
@@ -0,0 +1,69 @@
+{
+  "task_id": "procthor004",
+  "task_name": "Fetch Tissues & Wait by Dining Table",
+  "instruction": "I'll finish eating soon and I need tissues. Please go to the restroom, get some tissues, and wait for me near a dining table.",
+  "golden_actions": {
+    "steps": 35,
+    "actions": [
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "PickupObject(ToiletPaper)",
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "LookDown",
+      "MoveAhead(0.5)",
+      "Done"
+    ]
+  },
+  "scene_index": 100,
+  "target_object_types": [
+    "DiningTable",
+    "ToiletPaper"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "ToiletPaper",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "DiningTable",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'll finish eating soon and I need tissues. Please go to the restroom, get some tissues, and wait for me near a dining table.",
+  "max_steps": 80,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor005/task.json b/procthor/tasks/procthor005/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..051dfeab977e56c3a1f8f680b2178b578af1bd33
--- /dev/null
+++ b/procthor/tasks/procthor005/task.json
@@ -0,0 +1,63 @@
+{
+  "task_id": "procthor005",
+  "task_name": "Get Bowl for Rice",
+  "instruction": "I'm going to serve the rice. Please pick up your bowl and stand near the counter.",
+  "golden_actions": {
+    "steps": 29,
+    "actions": [
+      "RotateRight(90)",
+      "LookDown",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "PickupObject(Bowl)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 110,
+  "target_object_types": [
+    "Bowl",
+    "CounterTop"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Bowl",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "CounterTop",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm going to serve the rice. Please pick up your bowl and stand near the counter.",
+  "max_steps": 68,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor006/task.json b/procthor/tasks/procthor006/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..75eee89fa2a54523e055ed680b9bf0f34f897157
--- /dev/null
+++ b/procthor/tasks/procthor006/task.json
@@ -0,0 +1,62 @@
+{
+  "task_id": "procthor006",
+  "task_name": "Fetch an Egg from Fridge",
+  "instruction": "I need to prepare a meal. Please take the an egg out of the refrigerator and stand near it.",
+  "golden_actions": {
+    "steps": 28,
+    "actions": [
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "OpenObject(Fridge)",
+      "MoveAhead(0.5)",
+      "PickupObject(Egg)",
+      "Done"
+    ]
+  },
+  "scene_index": 110,
+  "target_object_types": [
+    "Egg",
+    "Fridge"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Egg",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Fridge",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I need to prepare a meal. Please take the an egg out of the refrigerator and stand near it.",
+  "max_steps": 66,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor007/task.json b/procthor/tasks/procthor007/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..1350420f13d4fba963545406e093f515869a215f
--- /dev/null
+++ b/procthor/tasks/procthor007/task.json
@@ -0,0 +1,68 @@
+{
+  "task_id": "procthor007",
+  "task_name": "Bring Cup, Wait by Sofa",
+  "instruction": "I'd like some water. Please go to the kitchen and get a cup, then wait for me near the sofa.",
+  "golden_actions": {
+    "steps": 34,
+    "actions": [
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "PickupObject(Cup)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "LookDown",
+      "MoveAhead(0.5)",
+      "Done"
+    ]
+  },
+  "scene_index": 110,
+  "target_object_types": [
+    "Sofa",
+    "Cup"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Cup",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Sofa",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'd like some water. Please go to the kitchen and get a cup, then wait for me near the sofa.",
+  "max_steps": 78,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor008/task.json b/procthor/tasks/procthor008/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb1f86365baf06b43535c64d487d9341bf8a03a2
--- /dev/null
+++ b/procthor/tasks/procthor008/task.json
@@ -0,0 +1,63 @@
+{
+  "task_id": "procthor008",
+  "task_name": "Get Spatula, Stand by Fridge",
+  "instruction": "I need to use a spatula. Please pick up the spatula and stand near the refrigerator.",
+  "golden_actions": {
+    "steps": 29,
+    "actions": [
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "PickupObject(Spatula)",
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 110,
+  "target_object_types": [
+    "Fridge",
+    "Spatula"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Spatula",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Fridge",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I need to use a spatula. Please pick up the spatula and stand near the refrigerator.",
+  "max_steps": 68,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor009/task.json b/procthor/tasks/procthor009/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..d945bbb6f16b9452dc63aa86159c2bb428275a6b
--- /dev/null
+++ b/procthor/tasks/procthor009/task.json
@@ -0,0 +1,75 @@
+{
+  "task_id": "procthor009",
+  "task_name": "Get Spoon, Wait by Sofa",
+  "instruction": "I need a spoon. Please pick up the spoon and stand near the sofa.",
+  "golden_actions": {
+    "steps": 41,
+    "actions": [
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "LookDown",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "PickupObject(Ladle)",
+      "MoveBack(0.25)",
+      "MoveBack(0.25)",
+      "MoveBack(0.25)",
+      "MoveBack(0.25)",
+      "MoveBack(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "Done"
+    ]
+  },
+  "scene_index": 110,
+  "target_object_types": [
+    "Ladle",
+    "Sofa"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Ladle",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Sofa",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I need a spoon. Please pick up the spoon and stand near the sofa.",
+  "max_steps": 92,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor010/task.json b/procthor/tasks/procthor010/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3b571d0f85b52c5de3a4af2346d9a3002d8c907
--- /dev/null
+++ b/procthor/tasks/procthor010/task.json
@@ -0,0 +1,55 @@
+{
+  "task_id": "procthor010",
+  "task_name": "Bring Basketball, Wait by TV Cabinet",
+  "instruction": "I need your help to pick up the basketball from the bedroom floor and wait for me by the TV cabinet.",
+  "golden_actions": {
+    "steps": 17,
+    "actions": [
+      "LookDown",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "PickupObject(BasketBall)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 122,
+  "target_object_types": [
+    "BasketBall",
+    "TVStand"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "BasketBall",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "TVStand",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I need your help to pick up the basketball from the bedroom floor and wait for me by the TV cabinet.",
+  "max_steps": 44,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor011/task.json b/procthor/tasks/procthor011/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..584689704d7f3aaa3702b83b40d0789addc9ace9
--- /dev/null
+++ b/procthor/tasks/procthor011/task.json
@@ -0,0 +1,72 @@
+{
+  "task_id": "procthor011",
+  "task_name": "Bring Watch, Wait by Fridge",
+  "instruction": "I want to check the time. Please pick up a watch from the bedroom and wait for me by the refrigerator.",
+  "golden_actions": {
+    "steps": 38,
+    "actions": [
+      "LookDown",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "PickupObject(Watch)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 122,
+  "target_object_types": [
+    "Watch",
+    "Fridge"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Watch",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Fridge",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to check the time. Please pick up a watch from the bedroom and wait for me by the refrigerator.",
+  "max_steps": 86,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor012/task.json b/procthor/tasks/procthor012/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..7be5fa83afe724152e3da5100d4bb3e64bc3d5fc
--- /dev/null
+++ b/procthor/tasks/procthor012/task.json
@@ -0,0 +1,63 @@
+{
+  "task_id": "procthor012",
+  "task_name": "Bring Book, Stand by TV Cabinet",
+  "instruction": "I'd like to do some organization. Please pick up a book and stand next to the TV cabinet.",
+  "golden_actions": {
+    "steps": 25,
+    "actions": [
+      "LookDown",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "PickupObject(Book)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 122,
+  "target_object_types": [
+    "Book",
+    "TVStand"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Book",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "TVStand",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'd like to do some organization. Please pick up a book and stand next to the TV cabinet.",
+  "max_steps": 60,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor013/task.json b/procthor/tasks/procthor013/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..86c0decfc1cd66b892fe64316b8973d28f3f0301
--- /dev/null
+++ b/procthor/tasks/procthor013/task.json
@@ -0,0 +1,59 @@
+{
+  "task_id": "procthor013",
+  "task_name": "Bring Pencil, Wait by TV Cabinet",
+  "instruction": "I'd like to do some tidying up. Please pick up the pencil from the bedroom and stand near the TV cabinet.",
+  "golden_actions": {
+    "steps": 21,
+    "actions": [
+      "LookDown",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "PickupObject(Pencil)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 122,
+  "target_object_types": [
+    "Pencil",
+    "TVStand"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Pencil",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "TVStand",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'd like to do some tidying up. Please pick up the pencil from the bedroom and stand near the TV cabinet.",
+  "max_steps": 52,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor014/task.json b/procthor/tasks/procthor014/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..30c3ca716563070fb4c72eee0a97c3549731a672
--- /dev/null
+++ b/procthor/tasks/procthor014/task.json
@@ -0,0 +1,74 @@
+{
+  "task_id": "procthor014",
+  "task_name": "Bring Candle, Wait by Fridge",
+  "instruction": "I need you to get me a candle and wait for me next to the refrigerator.",
+  "golden_actions": {
+    "steps": 40,
+    "actions": [
+      "RotateLeft(90)",
+      "LookDown",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "PickupObject(Candle)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "Done"
+    ]
+  },
+  "scene_index": 122,
+  "target_object_types": [
+    "Candle",
+    "Fridge"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Candle",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Fridge",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I need you to get me a candle and wait for me next to the refrigerator.",
+  "max_steps": 90,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor015/task.json b/procthor/tasks/procthor015/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..61c9810482ca8ed4749487b0fd4678a57128893f
--- /dev/null
+++ b/procthor/tasks/procthor015/task.json
@@ -0,0 +1,69 @@
+{
+  "task_id": "procthor015",
+  "task_name": "Bring Candle, Wait by Bed",
+  "instruction": "I need you to bring me a candle and wait for me by the bed.",
+  "golden_actions": {
+    "steps": 35,
+    "actions": [
+      "LookDown",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "PickupObject(Candle)",
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 126,
+  "target_object_types": [
+    "Candle",
+    "Bed"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Candle",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Bed",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I need you to bring me a candle and wait for me by the bed.",
+  "max_steps": 80,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor016/task.json b/procthor/tasks/procthor016/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..30bf9952e9b2a4672ef63bc8654c703cfb0902ff
--- /dev/null
+++ b/procthor/tasks/procthor016/task.json
@@ -0,0 +1,95 @@
+{
+  "task_id": "procthor016",
+  "task_name": "Deliver Basketball to Faucet",
+  "instruction": "I want to wash the basketball. Please bring the basketball to the faucet and wait for me.",
+  "golden_actions": {
+    "steps": 61,
+    "actions": [
+      "LookDown",
+      "RotateLeft(90)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "PickupObject(BasketBall)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "Done"
+    ]
+  },
+  "scene_index": 126,
+  "target_object_types": [
+    "BasketBall",
+    "Faucet"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "BasketBall",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Faucet",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to wash the basketball. Please bring the basketball to the faucet and wait for me.",
+  "max_steps": 132,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor017/task.json b/procthor/tasks/procthor017/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..77761b2123abe2c576bd624a7e1be27fc9fa1a62
--- /dev/null
+++ b/procthor/tasks/procthor017/task.json
@@ -0,0 +1,76 @@
+{
+  "task_id": "procthor017",
+  "task_name": "Move Alarm Clock & Wait",
+  "instruction": "I'm getting ready for bed. Please bring the alarm clock over, and wait for me by my bed.",
+  "golden_actions": {
+    "steps": 42,
+    "actions": [
+      "LookDown",
+      "RotateLeft(90)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "PickupObject(AlarmClock)",
+      "MoveBack(0.25)",
+      "MoveBack(0.25)",
+      "MoveBack(0.25)",
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 126,
+  "target_object_types": [
+    "AlarmClock",
+    "Bed"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "AlarmClock",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Bed",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm getting ready for bed. Please bring the alarm clock over, and wait for me by my bed.",
+  "max_steps": 94,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor018/task.json b/procthor/tasks/procthor018/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..280df6ec60a7a2a5c6bc85df3fe1e6530dac2e3f
--- /dev/null
+++ b/procthor/tasks/procthor018/task.json
@@ -0,0 +1,71 @@
+{
+  "task_id": "procthor018",
+  "task_name": "Pick Up Spray Bottle",
+  "instruction": "I'd like to do some cleaning. Please pick up the spray bottle and wait for me at the side table.",
+  "golden_actions": {
+    "steps": 37,
+    "actions": [
+      "LookDown",
+      "RotateRight(90)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "PickupObject(SprayBottle)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 126,
+  "target_object_types": [
+    "SprayBottle",
+    "SideTable"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "SprayBottle",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "SideTable",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'd like to do some cleaning. Please pick up the spray bottle and wait for me at the side table.",
+  "max_steps": 84,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor019/task.json b/procthor/tasks/procthor019/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cd0e683254c87f44fd7227513396b8e0538a6ab
--- /dev/null
+++ b/procthor/tasks/procthor019/task.json
@@ -0,0 +1,51 @@
+{
+  "task_id": "procthor019",
+  "task_name": "Bring Plunger, Wait by Sink",
+  "instruction": "I'd like to do some cleaning. Please pick up the plunger and wait for me by the sink.",
+  "golden_actions": {
+    "steps": 17,
+    "actions": [
+      "LookDown",
+      "RotateRight(90)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "PickupObject(Plunger)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "Done"
+    ]
+  },
+  "scene_index": 126,
+  "target_object_types": [
+    "Plunger",
+    "SinkBasin"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Plunger",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "SinkBasin",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'd like to do some cleaning. Please pick up the plunger and wait for me by the sink.",
+  "max_steps": 44,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor100/task.json b/procthor/tasks/procthor100/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..9db0db306b5828cc5a4108dc22ebcd81af0732a6
--- /dev/null
+++ b/procthor/tasks/procthor100/task.json
@@ -0,0 +1,61 @@
+{
+  "task_id": "procthor100",
+  "task_name": "Bring cup to bedroom",
+  "instruction": "I'm a bit thirsty and want some water. Could you please bring a cup from the kitchen to the bedroom?",
+  "golden_actions": {
+    "steps": 34,
+    "actions": [
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "LookDown",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "PickupObject(Mug)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "PutObject(DiningTable)",
+      "Done"
+    ]
+  },
+  "scene_index": 3,
+  "target_object_types": [
+    "Mug"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "Mug",
+      "room_type": "Bedroom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm a bit thirsty and want some water. Could you please bring a cup from the kitchen to the bedroom?",
+  "max_steps": 78,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level1 Navigation"
+}
diff --git a/procthor/tasks/procthor101/task.json b/procthor/tasks/procthor101/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..3662f7ed244d428707bec0b239b74750b65a24ad
--- /dev/null
+++ b/procthor/tasks/procthor101/task.json
@@ -0,0 +1,87 @@
+{
+  "task_id": "procthor101",
+  "task_name": "Put book in living room, stand by dining table",
+  "instruction": "I left a book in my room. Please pick up a book, place it in the living room, and then stand next to the dining table.",
+  "golden_actions": {
+    "steps": 50,
+    "actions": [
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(0.25)",
+      "LookDown",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "PickupObject(Book)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "LookDown",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "PutObject(DiningTable)",
+      "Done"
+    ]
+  },
+  "scene_index": 3,
+  "target_object_types": [
+    "Book",
+    "DiningTable"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "object_in_room",
+      "object_type": "Book",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "DiningTable",
+      "distance": 1.35
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I left a book in my room. Please pick up a book, place it in the living room, and then stand next to the dining table.",
+  "max_steps": 110,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level1 Navigation"
+}
diff --git a/procthor/tasks/procthor102/task.json b/procthor/tasks/procthor102/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..dba7c33d3e4ee546a97932f8dc5631502197eb62
--- /dev/null
+++ b/procthor/tasks/procthor102/task.json
@@ -0,0 +1,52 @@
+{
+  "task_id": "procthor102",
+  "task_name": "Turn on computer screen, wait by dining table",
+  "instruction": "Could you go and turn on the computer screen in the room? I want to check if it's damaged. Then please wait for me near any of the dining tables in the bedroom.",
+  "golden_actions": {
+    "steps": 14,
+    "actions": [
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "LookDown",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "OpenObject(Laptop)",
+      "Done"
+    ]
+  },
+  "scene_index": 4,
+  "target_object_types": [
+    "Laptop",
+    "DiningTable"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "Bedroom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "DiningTable",
+      "distance": 1.33
+    },
+    {
+      "type": "object_state",
+      "object_type": "Laptop",
+      "state": "isOpen",
+      "value": true
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "Could you go and turn on the computer screen in the room? I want to check if it's damaged. Then please wait for me near any of the dining tables in the bedroom.",
+  "max_steps": 38,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level1 Navigation"
+}
diff --git a/procthor/tasks/procthor103/task.json b/procthor/tasks/procthor103/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..48b40159f7ca3a800a89f8dc32294fb79b1311fe
--- /dev/null
+++ b/procthor/tasks/procthor103/task.json
@@ -0,0 +1,63 @@
+{
+  "task_id": "procthor103",
+  "task_name": "Bring bread to living room, wait by sofa",
+  "instruction": "I'm a bit hungry. Please bring one loaf of bread from the kitchen to the living room for me, and wait beside the sofa.",
+  "golden_actions": {
+    "steps": 25,
+    "actions": [
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "LookDown",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "PickupObject(Bread)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 5,
+  "target_object_types": [
+    "Bread",
+    "Sofa"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Sofa",
+      "distance": 1.42
+    },
+    {
+      "type": "object_state",
+      "object_type": "Bread",
+      "state": "isPickedUp",
+      "value": true
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm a bit hungry. Please bring one loaf of bread from the kitchen to the living room for me, and wait beside the sofa.",
+  "max_steps": 60,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level1 Navigation"
+}
diff --git a/procthor/tasks/procthor104/task.json b/procthor/tasks/procthor104/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..da483506f660c45ddc816709f4d77fef14bf130e
--- /dev/null
+++ b/procthor/tasks/procthor104/task.json
@@ -0,0 +1,90 @@
+{
+  "task_id": "procthor104",
+  "task_name": "Bring candle to kitchen, wait by counter",
+  "instruction": "I need a candle for cooking in the kitchen. Please bring one candle from the living room and wait by any counter.",
+  "golden_actions": {
+    "steps": 52,
+    "actions": [
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "LookDown",
+      "MoveAhead(0.5)",
+      "PickupObject(Candle)",
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 5,
+  "target_object_types": [
+    "Candle",
+    "CounterTop"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "Kitchen"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "CounterTop",
+      "distance": 1.37
+    },
+    {
+      "type": "object_state",
+      "object_type": "Candle",
+      "state": "isPickedUp",
+      "value": true
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I need a candle for cooking in the kitchen. Please bring one candle from the living room and wait by any counter.",
+  "max_steps": 114,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level1 Navigation"
+}
diff --git a/procthor/tasks/procthor105/task.json b/procthor/tasks/procthor105/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9654878b5ffe4c7f57ebf3dcb3296abb577b119
--- /dev/null
+++ b/procthor/tasks/procthor105/task.json
@@ -0,0 +1,67 @@
+{
+  "task_id": "procthor105",
+  "task_name": "Bring toilet paper holder to bedroom",
+  "instruction": "Can you bring the empty toilet paper holder from the bathroom to the bedroom? I'll refill it with paper.",
+  "golden_actions": {
+    "steps": 30,
+    "actions": [
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "PickupObject(ToiletPaper)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 6,
+  "target_object_types": [
+    "ToiletPaper"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "Bedroom"
+    },
+    {
+      "type": "object_in_room",
+      "object_type": "ToiletPaper",
+      "room_type": "Bedroom"
+    },
+    {
+      "type": "object_state",
+      "object_type": "ToiletPaper",
+      "state": "isPickedUp",
+      "value": true
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "Can you bring the empty toilet paper holder from the bathroom to the bedroom? I'll refill it with paper.",
+  "max_steps": 70,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level1 Navigation"
+}
diff --git a/procthor/tasks/procthor106/task.json b/procthor/tasks/procthor106/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..80448b8309cc571a72f361b268596a2027cf3e3e
--- /dev/null
+++ b/procthor/tasks/procthor106/task.json
@@ -0,0 +1,34 @@
+{
+  "task_id": "procthor106",
+  "task_name": "Leave bathroom, go to bedroom",
+  "instruction": "I'm going back to my room to sleep. Please come out of the bathroom and then go back to the bedroom.",
+  "golden_actions": {
+    "steps": 10,
+    "actions": [
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 7,
+  "target_object_types": [],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "Bedroom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm going back to my room to sleep. Please come out of the bathroom and then go back to the bedroom.",
+  "max_steps": 30,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level1 Navigation"
+}
diff --git a/procthor/tasks/procthor107/task.json b/procthor/tasks/procthor107/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..14f30f2a0b76f2b0b289653fe9963fef163881ed
--- /dev/null
+++ b/procthor/tasks/procthor107/task.json
@@ -0,0 +1,77 @@
+{
+  "task_id": "procthor107",
+  "task_name": "Put bowl in kitchen, bring pen to living room",
+  "instruction": "I'm done eating. Please put the bowl back in the kitchen and bring my pen from the kitchen to the living room.",
+  "golden_actions": {
+    "steps": 44,
+    "actions": [
+      "LookDown",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "PickupObject(Bowl)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "PutObject(CounterTop)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "PickupObject(Pen)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 11,
+  "target_object_types": [
+    "Bowl",
+    "Pen"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "Bowl",
+      "room_type": "Kitchen"
+    },
+    {
+      "type": "object_in_room",
+      "object_type": "Pen",
+      "room_type": "LivingRoom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm done eating. Please put the bowl back in the kitchen and bring my pen from the kitchen to the living room.",
+  "max_steps": 98,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level1 Navigation"
+}
diff --git a/procthor/tasks/procthor108/task.json b/procthor/tasks/procthor108/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ff62ff8b1ec4945f8e54f0d7845fe21cafe70c9
--- /dev/null
+++ b/procthor/tasks/procthor108/task.json
@@ -0,0 +1,55 @@
+{
+  "task_id": "procthor108",
+  "task_name": "Go to bedroom",
+  "instruction": "Please go to the bedroom.",
+  "golden_actions": {
+    "steps": 31,
+    "actions": [
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 15,
+  "target_object_types": [],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "Bedroom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "Please go to the bedroom.",
+  "max_steps": 72,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level1 Navigation"
+}
diff --git a/procthor/tasks/procthor109/init.json b/procthor/tasks/procthor109/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..04ade7da6dbdb57fa64af623a92fa9797b91b423
--- /dev/null
+++ b/procthor/tasks/procthor109/init.json
@@ -0,0 +1,16 @@
+{
+  "scene_index": 15,
+  "actions": [
+    "LookDown",
+    "MoveLeft(0.25)",
+    "MoveLeft(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveLeft(0.25)",
+    "MoveLeft(0.25)",
+    "MoveAhead(0.25)",
+    "Done"
+  ]
+}
\ No newline at end of file
diff --git a/procthor/tasks/procthor109/task.json b/procthor/tasks/procthor109/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..740db110026bae3bb8685579219c5d8e5cbe68bb
--- /dev/null
+++ b/procthor/tasks/procthor109/task.json
@@ -0,0 +1,68 @@
+{
+  "task_id": "procthor109",
+  "task_name": "Bring newspaper to bathroom",
+  "instruction": "I want to read the newspaper when I use the bathroom. Please bring the newspaper to me in the bathroom",
+  "golden_actions": {
+    "steps": 31,
+    "actions": [
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "PickupObject(Newspaper)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 15,
+  "target_object_types": [
+    "Newspaper"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "Bathroom"
+    },
+    {
+      "type": "object_in_room",
+      "object_type": "Newspaper",
+      "room_type": "Bathroom"
+    },
+    {
+      "type": "object_state",
+      "object_type": "Newspaper",
+      "state": "isPickedUp",
+      "value": true
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to read the newspaper when I use the bathroom. Please bring the newspaper to me in the bathroom",
+  "max_steps": 72,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level1 Navigation"
+}
diff --git a/procthor/tasks/procthor110/task.json b/procthor/tasks/procthor110/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..805b647e80d9c0d7a5e30cef50cbcba0956545e6
--- /dev/null
+++ b/procthor/tasks/procthor110/task.json
@@ -0,0 +1,43 @@
+{
+  "task_id": "procthor110",
+  "task_name": "Locate bedroom and enter",
+  "instruction": "Can you locate my bedroom? If so, please go ahead and step inside.",
+  "golden_actions": {
+    "steps": 19,
+    "actions": [
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "Done"
+    ]
+  },
+  "scene_index": 17,
+  "target_object_types": [],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "Bedroom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "Can you locate my bedroom? If so, please go ahead and step inside.",
+  "max_steps": 48,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level1 Navigation"
+}
diff --git a/procthor/tasks/procthor111/task.json b/procthor/tasks/procthor111/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab6305f4580ae1a40d605be1456d3408fa058660
--- /dev/null
+++ b/procthor/tasks/procthor111/task.json
@@ -0,0 +1,55 @@
+{
+  "task_id": "procthor111",
+  "task_name": "Bring apple to bedroom dresser",
+  "instruction": "An apple a day keeps the doctor away. Please grab one apple from the kitchen, bring it to my bedroom, and put it on any dresser. I'll eat it later.",
+  "golden_actions": {
+    "steps": 21,
+    "actions": [
+      "LookDown",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "PickupObject(Apple)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "PutObject(Dresser)",
+      "Done"
+    ]
+  },
+  "scene_index": 19,
+  "target_object_types": [
+    "Apple",
+    "Dresser"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "Apple",
+      "room_type": "Bedroom"
+    },
+    {
+      "type": "object_in_receptacle",
+      "object_type": "Apple",
+      "receptacle_type": "Dresser",
+      "value": "true"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "An apple a day keeps the doctor away. Please grab one apple from the kitchen, bring it to my bedroom, and put it on any dresser. I'll eat it later.",
+  "max_steps": 52,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level1 Navigation"
+}
diff --git a/procthor/tasks/procthor112/task.json b/procthor/tasks/procthor112/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..d513cfbdde6f871beb7fd896761c9e4cb55cc104
--- /dev/null
+++ b/procthor/tasks/procthor112/task.json
@@ -0,0 +1,79 @@
+{
+  "task_id": "procthor112",
+  "task_name": "Turn on phone, bring to bathroom",
+  "instruction": "Can you turn on one phone and bring it to the bathroom? I want to use it while I'm in there.",
+  "golden_actions": {
+    "steps": 46,
+    "actions": [
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "LookDown",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "ToggleObjectOn(CellPhone)",
+      "PickupObject(CellPhone)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "Done"
+    ]
+  },
+  "scene_index": 19,
+  "target_object_types": [
+    "CellPhone"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "CellPhone",
+      "room_type": "Bathroom"
+    },
+    {
+      "type": "object_state",
+      "object_type": "CellPhone",
+      "state": "isToggled",
+      "value": true
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "Can you turn on one phone and bring it to the bathroom? I want to use it while I'm in there.",
+  "max_steps": 102,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level1 Navigation"
+}
diff --git a/procthor/tasks/procthor113/init.json b/procthor/tasks/procthor113/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..0343095eaa884b9db478104b8b6b249628bc9f2e
--- /dev/null
+++ b/procthor/tasks/procthor113/init.json
@@ -0,0 +1,13 @@
+{
+  "scene_index": 22,
+  "actions": [
+    "RotateRight(90)",
+    "RotateRight(90)",
+    "LookDown",
+    "MoveRight(0.25)",
+    "MoveRight(0.25)",
+    "MoveRight(0.25)",
+    "MoveAhead(0.25)",
+    "Done"
+  ]
+}
\ No newline at end of file
diff --git a/procthor/tasks/procthor113/task.json b/procthor/tasks/procthor113/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae93d7bb008b6faa27e419b1790caec7c8281980
--- /dev/null
+++ b/procthor/tasks/procthor113/task.json
@@ -0,0 +1,54 @@
+{
+  "task_id": "procthor113",
+  "task_name": "Bring toilet paper to kitchen",
+  "instruction": "Can you see any toilet paper? If so, please bring one roll to the kitchen; the kitchen is out of paper.",
+  "golden_actions": {
+    "steps": 21,
+    "actions": [
+      "PickupObject(ToiletPaper)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "Done"
+    ]
+  },
+  "scene_index": 22,
+  "target_object_types": [
+    "ToiletPaper"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "ToiletPaper",
+      "room_type": "Kitchen"
+    },
+    {
+      "type": "object_state",
+      "object_type": "ToiletPaper",
+      "state": "isPickedUp",
+      "value": true
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "Can you see any toilet paper? If so, please bring one roll to the kitchen; the kitchen is out of paper.",
+  "max_steps": 52,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level1 Navigation"
+}
diff --git a/procthor/tasks/procthor114/task.json b/procthor/tasks/procthor114/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc6a017b59d6feb528ed1f20e8d2f15ac05c897a
--- /dev/null
+++ b/procthor/tasks/procthor114/task.json
@@ -0,0 +1,51 @@
+{
+  "task_id": "procthor114",
+  "task_name": "Wait at kitchen table",
+  "instruction": "I'll go eat soon. Please wait for me at any kitchen table first.",
+  "golden_actions": {
+    "steps": 24,
+    "actions": [
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "LookDown",
+      "MoveAhead(0.5)",
+      "Done"
+    ]
+  },
+  "scene_index": 127,
+  "target_object_types": [
+    "DiningTable"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_near_object",
+      "object_type": "DiningTable",
+      "distance": 1.44
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'll go eat soon. Please wait for me at any kitchen table first.",
+  "max_steps": 58,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level1 Navigation"
+}
diff --git a/procthor/tasks/procthor115/task.json b/procthor/tasks/procthor115/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e05f2570825b3a914ab224bb3beac81875bc2cd
--- /dev/null
+++ b/procthor/tasks/procthor115/task.json
@@ -0,0 +1,74 @@
+{
+  "task_id": "procthor115",
+  "task_name": "Bring book to kitchen",
+  "instruction": "Please take one book from the bedroom to the kitchen. It might help me with cooking.",
+  "golden_actions": {
+    "steps": 42,
+    "actions": [
+      "LookDown",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "PickupObject(Book)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 31,
+  "target_object_types": [
+    "Book"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "Kitchen"
+    },
+    {
+      "type": "object_state",
+      "object_type": "Book",
+      "state": "isPickedUp",
+      "value": true
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "Please take one book from the bedroom to the kitchen. It might help me with cooking.",
+  "max_steps": 94,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level1 Navigation"
+}
diff --git a/procthor/tasks/procthor116/init.json b/procthor/tasks/procthor116/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7bfe59211bece605b12b6e0453d3066f6e5b614
--- /dev/null
+++ b/procthor/tasks/procthor116/init.json
@@ -0,0 +1,80 @@
+{
+  "scene_index": 31,
+  "actions": [
+    "LookDown",
+    "MoveLeft(0.25)",
+    "MoveLeft(0.25)",
+    "MoveLeft(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "RotateRight(90)",
+    "RotateLeft(90)",
+    "RotateLeft(90)",
+    "MoveRight(0.25)",
+    "MoveRight(0.25)",
+    "MoveRight(0.25)",
+    "MoveRight(0.25)",
+    "MoveRight(0.25)",
+    "MoveRight(0.25)",
+    "MoveRight(0.25)",
+    "MoveRight(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "DirtyObject(Bed)",
+    "RotateRight(90)",
+    "RotateRight(90)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "RotateRight(90)",
+    "MoveLeft(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "RotateLeft(90)",
+    "RotateLeft(90)",
+    "MoveBack(0.25)",
+    "MoveBack(0.25)",
+    "MoveBack(0.25)",
+    "Done"
+  ]
+}
\ No newline at end of file
diff --git a/procthor/tasks/procthor116/task.json b/procthor/tasks/procthor116/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..aebb97a29c05b03d8db9f904c94bf45961e3b11d
--- /dev/null
+++ b/procthor/tasks/procthor116/task.json
@@ -0,0 +1,58 @@
+{
+  "task_id": "procthor116",
+  "task_name": "Clean bed, then go to kitchen",
+  "instruction": "As my robot, please clean a bed before going to sleep, then leave my bedroom and go to the kitchen.",
+  "golden_actions": {
+    "steps": 26,
+    "actions": [
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "CleanObject(Bed)",
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "Done"
+    ]
+  },
+  "scene_index": 31,
+  "target_object_types": [
+    "Bed"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "Kitchen"
+    },
+    {
+      "type": "object_state",
+      "object_type": "Bed",
+      "state": "isDirty",
+      "value": false
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "As my robot, please clean a bed before going to sleep, then leave my bedroom and go to the kitchen.",
+  "max_steps": 62,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level1 Navigation"
+}
diff --git a/procthor/tasks/procthor117/init.json b/procthor/tasks/procthor117/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..758e161439d2942d5355db21053121df222d2294
--- /dev/null
+++ b/procthor/tasks/procthor117/init.json
@@ -0,0 +1,30 @@
+{
+    "scene_index": 35,
+    "actions": [
+      "LookDown",
+      "RotateRight(90)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  }
\ No newline at end of file
diff --git a/procthor/tasks/procthor117/task.json b/procthor/tasks/procthor117/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9cf3efcc05f765f1c42e495487277654eba04d4
--- /dev/null
+++ b/procthor/tasks/procthor117/task.json
@@ -0,0 +1,81 @@
+{
+  "task_id": "procthor117",
+  "task_name": "Hide watch on counter, go to bedroom",
+  "instruction": "I'm just kidding. Please hide the watch on the kitchen counter and then quickly go to the bedroom.",
+  "golden_actions": {
+    "steps": 44,
+    "actions": [
+      "PickupObject(Watch)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "PutObject(CounterTop)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 35,
+  "target_object_types": [
+    "Watch"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "Bedroom"
+    },
+    {
+      "type": "object_in_room",
+      "object_type": "Watch",
+      "room_type": "Kitchen"
+    },
+    {
+      "type": "object_in_receptacle",
+      "object_type": "Watch",
+      "receptacle_type": "CounterTop",
+      "value": "true"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm just kidding. Please hide the watch on the kitchen counter and then quickly go to the bedroom.",
+  "max_steps": 98,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level1 Navigation"
+}
diff --git a/procthor/tasks/procthor118/init.json b/procthor/tasks/procthor118/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..758e161439d2942d5355db21053121df222d2294
--- /dev/null
+++ b/procthor/tasks/procthor118/init.json
@@ -0,0 +1,30 @@
+{
+    "scene_index": 35,
+    "actions": [
+      "LookDown",
+      "RotateRight(90)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  }
\ No newline at end of file
diff --git a/procthor/tasks/procthor118/task.json b/procthor/tasks/procthor118/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..2881d5b99d92b34debe70e207fb4709f098957c0
--- /dev/null
+++ b/procthor/tasks/procthor118/task.json
@@ -0,0 +1,40 @@
+{
+  "task_id": "procthor118",
+  "task_name": "Break vase, go to bathroom",
+  "instruction": "Please break the vase, then quickly go to the bathroom.",
+  "golden_actions": {
+    "steps": 8,
+    "actions": [
+      "BreakObject(Vase)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "Done"
+    ]
+  },
+  "scene_index": 35,
+  "target_object_types": [
+    "Vase"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "Bathroom"
+    },
+    {
+      "type": "object_state",
+      "object_type": "Vase",
+      "state": "isBroken",
+      "value": true
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "Please break the vase, then quickly go to the bathroom.",
+  "max_steps": 26,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level1 Navigation"
+}
diff --git a/procthor/tasks/procthor119/task.json b/procthor/tasks/procthor119/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9bc66f5604c42bee9b4deadcfd40bfeb292b7be
--- /dev/null
+++ b/procthor/tasks/procthor119/task.json
@@ -0,0 +1,89 @@
+{
+  "task_id": "procthor119",
+  "task_name": "Grab baseball bat, wait in living room",
+  "instruction": "My friend is coming over to hang out. Please grab a baseball bat for me and then wait for him in the living room.",
+  "golden_actions": {
+    "steps": 52,
+    "actions": [
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "LookDown",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "PickupObject(BaseballBat)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 93,
+  "target_object_types": [
+    "BaseballBat"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "object_state",
+      "object_type": "BaseballBat",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "object_in_room",
+      "object_type": "BaseballBat",
+      "room_type": "LivingRoom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "My friend is coming over to hang out. Please grab a baseball bat for me and then wait for him in the living room.",
+  "max_steps": 114,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level1 Navigation"
+}
diff --git a/procthor/tasks/procthor200/task.json b/procthor/tasks/procthor200/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..8205d8075f2d866988f05964a0a60367fe5a103c
--- /dev/null
+++ b/procthor/tasks/procthor200/task.json
@@ -0,0 +1,63 @@
+{
+  "task_id": "procthor200",
+  "task_name": "Slice tomato, take piece to kitchen table",
+  "instruction": "I'd like to have some fresh snacks. Please go to the kitchen, open the refrigerator, cut the tomatoes into chunks, close the refrigerator, and then take one piece to a table in the kitchen.",
+  "golden_actions": {
+    "steps": 12,
+    "actions": [
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "OpenObject(Fridge)",
+      "SliceObject(Tomato)",
+      "PickupObject(Tomato)",
+      "CloseObject(Fridge)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 151,
+  "target_object_types": [
+    "Tomato",
+    "Fridge",
+    "DiningTable"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Tomato",
+      "state": "isSliced",
+      "value": true
+    },
+    {
+      "type": "object_state",
+      "object_type": "Tomato",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "object_state",
+      "object_type": "Fridge",
+      "state": "isOpen",
+      "value": false
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "Kitchen"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "DiningTable",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'd like to have some fresh snacks. Please go to the kitchen, open the refrigerator, cut the tomatoes into chunks, close the refrigerator, and then take one piece to a table in the kitchen.",
+  "max_steps": 34,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor201/task.json b/procthor/tasks/procthor201/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f6bac28d7a1b1f84de8a47f46091e0e011f6010
--- /dev/null
+++ b/procthor/tasks/procthor201/task.json
@@ -0,0 +1,75 @@
+{
+  "task_id": "procthor201",
+  "task_name": "Turn off floor lamp, tidy bed, turn on TV",
+  "instruction": "I'm getting ready to sleep. I'd like to lie in bed and watch some TV before I go to sleep. Please go to the living room and turn off one floor lamp. Then, go to the bedroom, tidy up the bed, and turn on the TV for me.",
+  "golden_actions": {
+    "steps": 33,
+    "actions": [
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "ToggleObjectOff(FloorLamp)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "CleanObject(Bed)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "ToggleObjectOn(Television)",
+      "Done"
+    ]
+  },
+  "scene_index": 152,
+  "target_object_types": [
+    "Television",
+    "FloorLamp",
+    "Bed"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Television",
+      "state": "isToggled",
+      "value": true
+    },
+    {
+      "type": "object_state",
+      "object_type": "Bed",
+      "state": "isDirty",
+      "value": false
+    },
+    {
+      "type": "object_state",
+      "object_type": "FloorLamp",
+      "state": "isToggled",
+      "value": false
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm getting ready to sleep. I'd like to lie in bed and watch some TV before I go to sleep. Please go to the living room and turn off one floor lamp. Then, go to the bedroom, tidy up the bed, and turn on the TV for me.",
+  "max_steps": 76,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor202/task.json b/procthor/tasks/procthor202/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..894433223a2f807b4228f107cdcee35b6290a8a6
--- /dev/null
+++ b/procthor/tasks/procthor202/task.json
@@ -0,0 +1,86 @@
+{
+  "task_id": "procthor202",
+  "task_name": "Turn off lamp, turn on phone, stand by bed",
+  "instruction": "I've finished my work and am going to rest in bed. Please turn off a bedside lamp, turn on a mobile phone, and stand by the bed.",
+  "golden_actions": {
+    "steps": 39,
+    "actions": [
+      "RotateLeft(90)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "ToggleObjectOff(DeskLamp)",
+      "ToggleObjectOn(CellPhone)",
+      "PickupObject(CellPhone)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "Done"
+    ]
+  },
+  "scene_index": 154,
+  "target_object_types": [
+    "DeskLamp",
+    "CellPhone",
+    "Bed"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "CellPhone",
+      "state": "isToggled",
+      "value": true
+    },
+    {
+      "type": "object_state",
+      "object_type": "CellPhone",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "object_state",
+      "object_type": "DeskLamp",
+      "state": "isToggled",
+      "value": false
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Bed",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I've finished my work and am going to rest in bed. Please turn off a bedside lamp, turn on a mobile phone, and stand by the bed.",
+  "max_steps": 88,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor203/task.json b/procthor/tasks/procthor203/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..94f0583d57f7a60ffe923cc17d79257f457071a0
--- /dev/null
+++ b/procthor/tasks/procthor203/task.json
@@ -0,0 +1,59 @@
+{
+  "task_id": "procthor203",
+  "task_name": "Turn on toaster and coffee machine",
+  "instruction": "I'm getting ready for breakfast. Please go to the kitchen, turn on the toaster, and turn on the coffee machine for me.",
+  "golden_actions": {
+    "steps": 24,
+    "actions": [
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "ToggleObjectOn(CoffeeMachine)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "ToggleObjectOn(Toaster)",
+      "Done"
+    ]
+  },
+  "scene_index": 157,
+  "target_object_types": [
+    "CoffeeMachine",
+    "Toaster"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "CoffeeMachine",
+      "state": "isToggled",
+      "value": true
+    },
+    {
+      "type": "object_state",
+      "object_type": "Toaster",
+      "state": "isToggled",
+      "value": true
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm getting ready for breakfast. Please go to the kitchen, turn on the toaster, and turn on the coffee machine for me.",
+  "max_steps": 58,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor204/task.json b/procthor/tasks/procthor204/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6a5200074aecf9fac319e6c597b040012feae75
--- /dev/null
+++ b/procthor/tasks/procthor204/task.json
@@ -0,0 +1,67 @@
+{
+  "task_id": "procthor204",
+  "task_name": "Get egg and place near pan",
+  "instruction": "I want to eat an egg. Please go to the kitchen, open the refrigerator, take out an egg, close the refrigerator, and then place it next to the pot.",
+  "golden_actions": {
+    "steps": 26,
+    "actions": [
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "OpenObject(Fridge)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "PickupObject(Egg)",
+      "CloseObject(Fridge)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 201,
+  "target_object_types": [
+    "Egg",
+    "Fridge",
+    "Pan"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Egg",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "object_state",
+      "object_type": "Fridge",
+      "state": "isOpen",
+      "value": false
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Pan",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to eat an egg. Please go to the kitchen, open the refrigerator, take out an egg, close the refrigerator, and then place it next to the pot.",
+  "max_steps": 62,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor205/task.json b/procthor/tasks/procthor205/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef22f6e11b3c3edf1f276b9d7fc4eb482228b32e
--- /dev/null
+++ b/procthor/tasks/procthor205/task.json
@@ -0,0 +1,66 @@
+{
+  "task_id": "procthor205",
+  "task_name": "Fetch pillow to bathroom",
+  "instruction": "I want to wash the pillow. Please pick up the pillow and bring it to the bathroom.",
+  "golden_actions": {
+    "steps": 39,
+    "actions": [
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "PickupObject(Pillow)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "Done"
+    ]
+  },
+  "scene_index": 300,
+  "target_object_types": [
+    "Pillow"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "Pillow",
+      "room_type": "Bathroom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to wash the pillow. Please pick up the pillow and bring it to the bathroom.",
+  "max_steps": 88,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor206/task.json b/procthor/tasks/procthor206/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4b087f90f7fb077744146805d38a7eabf23a3c4
--- /dev/null
+++ b/procthor/tasks/procthor206/task.json
@@ -0,0 +1,62 @@
+{
+  "task_id": "procthor206",
+  "task_name": "Fetch book to bedroom",
+  "instruction": "I want to read before going to sleep. Please find one book and bring it to the bedroom.",
+  "golden_actions": {
+    "steps": 35,
+    "actions": [
+      "RotateRight(90)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "PickupObject(Book)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 602,
+  "target_object_types": [
+    "Book"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "Book",
+      "room_type": "Bedroom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to read before going to sleep. Please find one book and bring it to the bedroom.",
+  "max_steps": 80,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor207/task.json b/procthor/tasks/procthor207/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..87a6283b009e9a3439a7571facbeb5c82cb87bab
--- /dev/null
+++ b/procthor/tasks/procthor207/task.json
@@ -0,0 +1,67 @@
+{
+  "task_id": "procthor207",
+  "task_name": "Fetch basketball to bathroom",
+  "instruction": "My basketball is dirty and I want to wash it. Please pick up one basketball and navigate to the bathroom.",
+  "golden_actions": {
+    "steps": 40,
+    "actions": [
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "PickupObject(BasketBall)",
+      "RotateLeft(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 330,
+  "target_object_types": [
+    "BasketBall"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "BasketBall",
+      "room_type": "Bathroom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "My basketball is dirty and I want to wash it. Please pick up one basketball and navigate to the bathroom.",
+  "max_steps": 90,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor208/task.json b/procthor/tasks/procthor208/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c3df56dfbfb6e985c1175a49c3a4b84812d567d
--- /dev/null
+++ b/procthor/tasks/procthor208/task.json
@@ -0,0 +1,73 @@
+{
+  "task_id": "procthor208",
+  "task_name": "Relocate tennis racket to bathroom",
+  "instruction": "I am going out to play soon and need to clean my gear first. Please take the tennis racket and carry it to the bathroom for me.",
+  "golden_actions": {
+    "steps": 46,
+    "actions": [
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "PickupObject(TennisRacket)",
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 332,
+  "target_object_types": [
+    "TennisRacket"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "TennisRacket",
+      "room_type": "Bathroom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I am going out to play soon and need to clean my gear first. Please take the tennis racket and carry it to the bathroom for me.",
+  "max_steps": 102,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor209/task.json b/procthor/tasks/procthor209/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..94bc56766937accb3b5b4e560459c17004a640bf
--- /dev/null
+++ b/procthor/tasks/procthor209/task.json
@@ -0,0 +1,49 @@
+{
+  "task_id": "procthor209",
+  "task_name": "Deliver tomato to bedroom",
+  "instruction": "I am feeling a bit hungry. Please pick up one tomato and carry it to the bedroom.",
+  "golden_actions": {
+    "steps": 22,
+    "actions": [
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "PickupObject(Tomato)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "Done"
+    ]
+  },
+  "scene_index": 332,
+  "target_object_types": [
+    "Tomato"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "Tomato",
+      "room_type": "Bedroom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I am feeling a bit hungry. Please pick up one tomato and carry it to the bedroom.",
+  "max_steps": 54,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor210/task.json b/procthor/tasks/procthor210/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e1b6da2df56e96ae59fbad133cbcca07bec073b
--- /dev/null
+++ b/procthor/tasks/procthor210/task.json
@@ -0,0 +1,57 @@
+{
+  "task_id": "procthor210",
+  "task_name": "Decorate bedroom with vase",
+  "instruction": "I want to decorate my bedroom. Please pick up one vase and relocate it to the bedroom.",
+  "golden_actions": {
+    "steps": 30,
+    "actions": [
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "PickupObject(Vase)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "Done"
+    ]
+  },
+  "scene_index": 333,
+  "target_object_types": [
+    "Vase"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "Vase",
+      "room_type": "Bedroom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to decorate my bedroom. Please pick up one vase and relocate it to the bedroom.",
+  "max_steps": 70,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor211/task.json b/procthor/tasks/procthor211/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..02866a44cccfff2c864461d937125f5f07962dbd
--- /dev/null
+++ b/procthor/tasks/procthor211/task.json
@@ -0,0 +1,49 @@
+{
+  "task_id": "procthor211",
+  "task_name": "Transport bread to bedroom",
+  "instruction": "I am hungry. Please find the bread and carry it into the bedroom for me.",
+  "golden_actions": {
+    "steps": 22,
+    "actions": [
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "PickupObject(Bread)",
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 333,
+  "target_object_types": [
+    "Bread"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "Bread",
+      "room_type": "Bedroom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I am hungry. Please find the bread and carry it into the bedroom for me.",
+  "max_steps": 54,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor212/task.json b/procthor/tasks/procthor212/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..46f907ff3bc36ff7e86b41a3dbd8f4eaa5aa6aff
--- /dev/null
+++ b/procthor/tasks/procthor212/task.json
@@ -0,0 +1,60 @@
+{
+  "task_id": "procthor212",
+  "task_name": "Box relocation to kitchen",
+  "instruction": "I am planning to organize some items in the kitchen. Please pick up the box and move it to the kitchen for me.",
+  "golden_actions": {
+    "steps": 33,
+    "actions": [
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "PickupObject(Box)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 335,
+  "target_object_types": [
+    "Box"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "Box",
+      "room_type": "Kitchen"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I am planning to organize some items in the kitchen. Please pick up the box and move it to the kitchen for me.",
+  "max_steps": 76,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor213/task.json b/procthor/tasks/procthor213/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b939b8fadfe428d71883df749ea23069611bcfc
--- /dev/null
+++ b/procthor/tasks/procthor213/task.json
@@ -0,0 +1,94 @@
+{
+  "task_id": "procthor213",
+  "task_name": "Bowl relocation to kitchen",
+  "instruction": "I just finished my snack and need to tidy up. Please pick up one bowl and carry it over to the kitchen.",
+  "golden_actions": {
+    "steps": 67,
+    "actions": [
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "PickupObject(Bowl)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 335,
+  "target_object_types": [
+    "Bowl"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "Bowl",
+      "room_type": "Kitchen"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I just finished my snack and need to tidy up. Please pick up one bowl and carry it over to the kitchen.",
+  "max_steps": 144,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor214/task.json b/procthor/tasks/procthor214/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f50fa3c07aa156f1c36a01ef3ad23529a2f5d60
--- /dev/null
+++ b/procthor/tasks/procthor214/task.json
@@ -0,0 +1,60 @@
+{
+  "task_id": "procthor214",
+  "task_name": "Deliver apple to bedroom",
+  "instruction": "I would like to have some fruit before I go to sleep. Please pick up the apple and carry it to the bedroom.",
+  "golden_actions": {
+    "steps": 33,
+    "actions": [
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "PickupObject(Apple)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 343,
+  "target_object_types": [
+    "Apple"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "Apple",
+      "room_type": "Bedroom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I would like to have some fruit before I go to sleep. Please pick up the apple and carry it to the bedroom.",
+  "max_steps": 76,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor215/task.json b/procthor/tasks/procthor215/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dbf9cb5117f70c17cd0cb262df50d2ac981b81a
--- /dev/null
+++ b/procthor/tasks/procthor215/task.json
@@ -0,0 +1,69 @@
+{
+  "task_id": "procthor215",
+  "task_name": "Enhance kitchen decor with statue",
+  "instruction": "I want to decorate the kitchen. Please pick up one statue and move it to the kitchen.",
+  "golden_actions": {
+    "steps": 42,
+    "actions": [
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "PickupObject(Statue)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "Done"
+    ]
+  },
+  "scene_index": 345,
+  "target_object_types": [
+    "Statue"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "Statue",
+      "room_type": "Kitchen"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to decorate the kitchen. Please pick up one statue and move it to the kitchen.",
+  "max_steps": 94,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor216/task.json b/procthor/tasks/procthor216/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..7849ed2c31fda84fe80a302a7f04ab183fa7bc80
--- /dev/null
+++ b/procthor/tasks/procthor216/task.json
@@ -0,0 +1,69 @@
+{
+  "task_id": "procthor216",
+  "task_name": "Newspaper relocation to bedroom",
+  "instruction": "I want to read the newspaper before going to sleep. Please pick up one newspaper and carry it to the bedroom.",
+  "golden_actions": {
+    "steps": 42,
+    "actions": [
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "PickupObject(Newspaper)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "Done"
+    ]
+  },
+  "scene_index": 401,
+  "target_object_types": [
+    "Newspaper"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "Newspaper",
+      "room_type": "Bedroom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to read the newspaper before going to sleep. Please pick up one newspaper and carry it to the bedroom.",
+  "max_steps": 94,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor217/task.json b/procthor/tasks/procthor217/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..e079f29d25ba2627bf49949db663ad32f2d8561f
--- /dev/null
+++ b/procthor/tasks/procthor217/task.json
@@ -0,0 +1,62 @@
+{
+  "task_id": "procthor217",
+  "task_name": "Deliver wine bottle to bedroom",
+  "instruction": "I want to have a drink before going to sleep. Please pick up the wine bottle and move it to the bedroom for me.",
+  "golden_actions": {
+    "steps": 35,
+    "actions": [
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "PickupObject(WineBottle)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 406,
+  "target_object_types": [
+    "WineBottle"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "WineBottle",
+      "room_type": "Bedroom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to have a drink before going to sleep. Please pick up the wine bottle and move it to the bedroom for me.",
+  "max_steps": 80,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor218/task.json b/procthor/tasks/procthor218/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..2103e8cc1419508ad04e8b0777339f87db7fbdaf
--- /dev/null
+++ b/procthor/tasks/procthor218/task.json
@@ -0,0 +1,57 @@
+{
+  "task_id": "procthor218",
+  "task_name": "Transport teddy bear to bathroom",
+  "instruction": "I think a teddy bear needs a wash. Please pick one up and carry it to the bathroom for me.",
+  "golden_actions": {
+    "steps": 30,
+    "actions": [
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "PickupObject(TeddyBear)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 410,
+  "target_object_types": [
+    "TeddyBear"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "TeddyBear",
+      "room_type": "Bathroom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I think a teddy bear needs a wash. Please pick one up and carry it to the bathroom for me.",
+  "max_steps": 70,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor219/task.json b/procthor/tasks/procthor219/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..0df5fdd85ee2db965366ed495c14313f19af9b2c
--- /dev/null
+++ b/procthor/tasks/procthor219/task.json
@@ -0,0 +1,59 @@
+{
+  "task_id": "procthor219",
+  "task_name": "Fill cup and transport to bedroom",
+  "instruction": "I am feeling thirsty and want some water before I go to sleep. Please fill the cup with water and then carry it to the bedroom for me.",
+  "golden_actions": {
+    "steps": 25,
+    "actions": [
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "FillObjectWithLiquid(Cup, water)",
+      "PickupObject(Cup)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 411,
+  "target_object_types": [
+    "Cup"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "Cup",
+      "room_type": "Bedroom"
+    },
+    {
+      "type": "object_state",
+      "object_type": "Cup",
+      "field": "isFilledWithLiquid",
+      "value": true,
+      "liquid": "water"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I am feeling thirsty and want some water before I go to sleep. Please fill the cup with water and then carry it to the bedroom for me.",
+  "max_steps": 60,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor300/task.json b/procthor/tasks/procthor300/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..7614ea0c283235a6c631498269141e9d5457ca34
--- /dev/null
+++ b/procthor/tasks/procthor300/task.json
@@ -0,0 +1,70 @@
+{
+  "task_id": "procthor300",
+  "task_name": "Fill Bowl with Water, Wait by Table",
+  "instruction": "I'm thirsty. Please fill a bowl with water and wait beside the table.",
+  "golden_actions": {
+    "steps": 37,
+    "actions": [
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "LookDown",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "FillObjectWithLiquid(Bowl, water)",
+      "Done"
+    ]
+  },
+  "scene_index": 130,
+  "target_object_types": [
+    "Bowl"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Bowl",
+      "state": "isFilledWithLiquid",
+      "value": true
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "DiningTable",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm thirsty. Please fill a bowl with water and wait beside the table.",
+  "max_steps": 84,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor301/task.json b/procthor/tasks/procthor301/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..903eb08a540c5d537f52ce36958cd3ff58216b63
--- /dev/null
+++ b/procthor/tasks/procthor301/task.json
@@ -0,0 +1,81 @@
+{
+  "task_id": "procthor301",
+  "task_name": "Open Toilet Lid, Wait by Toilet",
+  "instruction": "I need to use the bathroom. Please open the toilet lid and wait beside it.",
+  "golden_actions": {
+    "steps": 44,
+    "actions": [
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "LookDown",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "OpenObject(Toilet)",
+      "Done"
+    ]
+  },
+  "scene_index": 130,
+  "target_object_types": [
+    "Toilet"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Toilet",
+      "state": "isOpen",
+      "value": true
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "Bathroom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Toilet",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I need to use the bathroom. Please open the toilet lid and wait beside it.",
+  "max_steps": 98,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Bathroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor302/task.json b/procthor/tasks/procthor302/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..543533c9c4ca291b52dda1647e1176f1582b971a
--- /dev/null
+++ b/procthor/tasks/procthor302/task.json
@@ -0,0 +1,88 @@
+{
+  "task_id": "procthor302",
+  "task_name": "Pick up Plunger, Wait by Toilet.",
+  "instruction": "The toilet is dirty. Please pick up the plunger and wait beside the toilet while I clean it.",
+  "golden_actions": {
+    "steps": 50,
+    "actions": [
+      "MoveLeft(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "LookDown",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "PickupObject(Plunger)",
+      "RotateLeft(90)",
+      "Done"
+    ]
+  },
+  "scene_index": 130,
+  "target_object_types": [
+    "Plunger",
+    "Toilet"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Plunger",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "Bathroom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Toilet",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "The toilet is dirty. Please pick up the plunger and wait beside the toilet while I clean it.",
+  "max_steps": 110,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor303/task.json b/procthor/tasks/procthor303/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccb69b7ce96e266f1d8d6cd9c884a4b24a815e78
--- /dev/null
+++ b/procthor/tasks/procthor303/task.json
@@ -0,0 +1,68 @@
+{
+  "task_id": "procthor303",
+  "task_name": "Pick up Basketball, Wait by Bed",
+  "instruction": "A basketball on the floor is blocking the way. Please pick it up and stand by a bed.",
+  "golden_actions": {
+    "steps": 30,
+    "actions": [
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "LookDown",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "PickupObject(BasketBall)",
+      "MoveLeft(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "LookDown",
+      "MoveAhead(0.5)",
+      "Done"
+    ]
+  },
+  "scene_index": 130,
+  "target_object_types": [
+    "BasketBall",
+    "Bed"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "BasketBall",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "Bedroom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Bed",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "The basketball on the floor is blocking the way. Please pick it up and stand by the bed.",
+  "max_steps": 70,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor304/task.json b/procthor/tasks/procthor304/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c6e9bfe991f32b19d9871edd3e55c78fc09f0fd
--- /dev/null
+++ b/procthor/tasks/procthor304/task.json
@@ -0,0 +1,49 @@
+{
+  "task_id": "procthor304",
+  "task_name": "bring a basketball",
+  "instruction": "I want to play the basketball. Please bring a basketball in the Bedroom.",
+  "golden_actions": {
+    "steps": 12,
+    "actions": [
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "LookDown",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "PickupObject(BasketBall)",
+      "Done"
+    ]
+  },
+  "scene_index": 130,
+  "target_object_types": [
+    "BasketBall"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "BasketBall",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "Bedroom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "BasketBall",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to play the basketball. Please bring a basketball in the Bedroom.",
+  "max_steps": 34,
+  "Evaluation_Type": "Conditional",
+  "Category": "Entertainment (Game/Sports)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor305/task.json b/procthor/tasks/procthor305/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..c340348c8d392d934e789b16a066f2022b52a547
--- /dev/null
+++ b/procthor/tasks/procthor305/task.json
@@ -0,0 +1,52 @@
+{
+  "task_id": "procthor305",
+  "task_name": "Make Bed, Wait by Bed",
+  "instruction": "I'm going to sleep, but a bed is messy. Please tidy a bed and wait beside it.",
+  "golden_actions": {
+    "steps": 15,
+    "actions": [
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "LookDown",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "CleanObject(Bed)",
+      "Done"
+    ]
+  },
+  "scene_index": 129,
+  "target_object_types": [
+    "Bed"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Bed",
+      "state": "isDirty",
+      "value": false
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "Bedroom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Bed",
+      "distance": 2
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm going to sleep, but a bed is messy. Please tidy a bed and wait beside it.",
+  "max_steps": 40,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor306/task.json b/procthor/tasks/procthor306/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c32d449d8b10ab52f7b61b1062cf6eb050ac763
--- /dev/null
+++ b/procthor/tasks/procthor306/task.json
@@ -0,0 +1,56 @@
+{
+  "task_id": "procthor306",
+  "task_name": "Turn On Computer, Wait by Computer",
+  "instruction": "I'm ready to work. Please turn on a computer and wait beside it.",
+  "golden_actions": {
+    "steps": 17,
+    "actions": [
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "LookDown",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "MoveAhead(0.25)",
+      "OpenObject(Laptop)",
+      "ToggleObjectOn(Laptop)",
+      "Done"
+    ]
+  },
+  "scene_index": 129,
+  "target_object_types": [
+    "Bed"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Laptop",
+      "state": "isOpen",
+      "value": true
+    },
+    {
+      "type": "object_state",
+      "object_type": "Laptop",
+      "state": "isToggled",
+      "value": true
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Laptop",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm ready to work. Please turn on a computer and wait beside it.",
+  "max_steps": 44,
+  "Evaluation_Type": "Conditional",
+  "Category": "Study and Work",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor307/task.json b/procthor/tasks/procthor307/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa6300f20e4343b2cee0131a7b0873a02122b870
--- /dev/null
+++ b/procthor/tasks/procthor307/task.json
@@ -0,0 +1,61 @@
+{
+  "task_id": "procthor307",
+  "task_name": "Slice Bread, Wait by Table",
+  "instruction": "I plan to eat bread. Please slice a bread and wait beside a table.",
+  "golden_actions": {
+    "steps": 23,
+    "actions": [
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "LookDown",
+      "MoveAhead(0.5)",
+      "SliceObject(Bread)",
+      "Done"
+    ]
+  },
+  "scene_index": 127,
+  "target_object_types": [
+    "Bread",
+    "DiningTable"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Bread",
+      "state": "isSliced",
+      "value": true
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "Kitchen"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "DiningTable",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I plan to eat bread. Please slice a bread and wait beside a table.",
+  "max_steps": 56,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor308/task.json b/procthor/tasks/procthor308/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b1cf64edde878d222c4d315994c821867cc074f
--- /dev/null
+++ b/procthor/tasks/procthor308/task.json
@@ -0,0 +1,60 @@
+{
+  "task_id": "procthor308",
+  "task_name": "Pick up Phone, Wait by Sofa",
+  "instruction": "I'm ready to work. Please pick up the phone from the sofa and wait beside the sofa.",
+  "golden_actions": {
+    "steps": 22,
+    "actions": [
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "LookDown",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "PickupObject(CellPhone)",
+      "Done"
+    ]
+  },
+  "scene_index": 20,
+  "target_object_types": [
+    "CellPhone",
+    "Sofa"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "CellPhone",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Sofa",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm ready to work. Please pick up the phone from the sofa and wait beside the sofa.",
+  "max_steps": 54,
+  "Evaluation_Type": "Conditional",
+  "Category": "Study and Work",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor309/task.json b/procthor/tasks/procthor309/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1b083ec2a1394acd01af74f34d65ff086b05768
--- /dev/null
+++ b/procthor/tasks/procthor309/task.json
@@ -0,0 +1,95 @@
+{
+  "task_id": "procthor309",
+  "task_name": "Pick up Book from Cabinet",
+  "instruction": "I want to read a book. Please pick up a book.",
+  "golden_actions": {
+    "steps": 67,
+    "actions": [
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(0.25)",
+      "LookDown",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "PickupObject(Book)",
+      "Done"
+    ]
+  },
+  "scene_index": 65,
+  "target_object_types": [
+    "Book"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Book",
+      "state": "isPickedUp",
+      "value": true
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to read a book. Please pick up a book.",
+  "max_steps": 144,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor310/task.json b/procthor/tasks/procthor310/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..94f48031d895d395f594bfd3f519d2cded91128f
--- /dev/null
+++ b/procthor/tasks/procthor310/task.json
@@ -0,0 +1,95 @@
+{
+  "task_id": "procthor310",
+  "task_name": "Put RemoteControl on DiningTable, Wait by Table",
+  "instruction": "I'm going to have a meal. Please move the RemoteControl from the sofa to the dining table, then wait beside the table.",
+  "golden_actions": {
+    "steps": 60,
+    "actions": [
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "LookDown",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "PickupObject(RemoteControl)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "PutObject(DiningTable)",
+      "Done"
+    ]
+  },
+  "scene_index": 65,
+  "target_object_types": [
+    "RemoteControl",
+    "Sofa",
+    "DiningTable"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_receptacle",
+      "object_type": "RemoteControl",
+      "receptacle_type": "DiningTable",
+      "value": "true"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "DiningTable",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm going to have a meal. Please move the RemoteControl from the sofa to the dining table, then wait beside the table.",
+  "max_steps": 130,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor311/task.json b/procthor/tasks/procthor311/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba43be1240a1dd5df64d511ff33c4372640e9705
--- /dev/null
+++ b/procthor/tasks/procthor311/task.json
@@ -0,0 +1,108 @@
+{
+  "task_id": "procthor311",
+  "task_name": "Pick up BaseballBat, Wait by Dresser",
+  "instruction": "A BaseballBat fell on the floor. Please pick up the BaseballBat and wait beside the dresser.",
+  "golden_actions": {
+    "steps": 74,
+    "actions": [
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "RotateLeft(90)",
+      "LookDown",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "PickupObject(BaseballBat)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "Done"
+    ]
+  },
+  "scene_index": 65,
+  "target_object_types": [
+    "BaseballBat",
+    "Dresser"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "BaseballBat",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Dresser",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "A BaseballBat fell on the floor. Please pick up the BaseballBat and wait beside the dresser.",
+  "max_steps": 158,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor312/task.json b/procthor/tasks/procthor312/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e6e24d31e66ee5f897ca7e503dfb1ef713eed91
--- /dev/null
+++ b/procthor/tasks/procthor312/task.json
@@ -0,0 +1,56 @@
+{
+  "task_id": "procthor312",
+  "task_name": "Tidy Bed, Wait by Bed",
+  "instruction": "The bed is dirty. Please tidy the bed and wait beside it.",
+  "golden_actions": {
+    "steps": 19,
+    "actions": [
+      "MoveRight(0.25)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveBack(0.25)",
+      "MoveAhead(0.5)",
+      "LookDown",
+      "MoveAhead(1.0)",
+      "CleanObject(Bed)",
+      "Done"
+    ]
+  },
+  "scene_index": 68,
+  "target_object_types": [
+    "Bed"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Bed",
+      "state": "isDirty",
+      "value": false
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "Bedroom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Bed",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "The bed is dirty. Please tidy the bed and wait beside it.",
+  "max_steps": 48,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor313/task.json b/procthor/tasks/procthor313/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d8e6e64a88217274ad7c6e31fceb61e92958251
--- /dev/null
+++ b/procthor/tasks/procthor313/task.json
@@ -0,0 +1,50 @@
+{
+  "task_id": "procthor313",
+  "task_name": "Turn On CoffeeMachine, Wait by CoffeeMachine",
+  "instruction": "I want to make coffee. Please turn on a coffee machine and wait beside it.",
+  "golden_actions": {
+    "steps": 13,
+    "actions": [
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "LookDown",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "ToggleObjectOn(CoffeeMachine)",
+      "Done"
+    ]
+  },
+  "scene_index": 73,
+  "target_object_types": [
+    "CoffeeMachine"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "CoffeeMachine",
+      "state": "isToggled",
+      "value": true
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "Kitchen"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "CoffeeMachine",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to make coffee. Please turn on a coffee machine and wait beside it.",
+  "max_steps": 36,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor314/task.json b/procthor/tasks/procthor314/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8ca87dc7e6bc75112cff0faca411b64e249c524
--- /dev/null
+++ b/procthor/tasks/procthor314/task.json
@@ -0,0 +1,73 @@
+{
+  "task_id": "procthor314",
+  "task_name": "Throw Away DishSponge, Wait by TrashCan",
+  "instruction": "A dishsponge is broken. Please throw it into a trash can, then wait beside the trash can.",
+  "golden_actions": {
+    "steps": 35,
+    "actions": [
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "LookDown",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "PickupObject(DishSponge)",
+      "MoveRight(0.25)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "PutObject(GarbageCan)",
+      "Done"
+    ]
+  },
+  "scene_index": 74,
+  "target_object_types": [
+    "DishSponge",
+    "GarbageCan"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_receptacle",
+      "object_type": "DishSponge",
+      "receptacle_type": "GarbageCan",
+      "value": true
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "GarbageCan",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "A dishsponge is broken. Please throw it into a trash can, then wait beside the trash can.",
+  "max_steps": 80,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor316/task.json b/procthor/tasks/procthor316/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..739eb9180d3668e1b538b77ea870a89e1b206a57
--- /dev/null
+++ b/procthor/tasks/procthor316/task.json
@@ -0,0 +1,66 @@
+{
+  "task_id": "procthor316",
+  "task_name": "Pick up Newspaper, Wait by Sofa",
+  "instruction": "I will read the newspaper on the sofa later. Please pick up the newspaper on the sofa and wait beside the sofa.",
+  "golden_actions": {
+    "steps": 28,
+    "actions": [
+      "LookDown",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "PickupObject(Newspaper)",
+      "Done"
+    ]
+  },
+  "scene_index": 84,
+  "target_object_types": [
+    "Newspaper",
+    "Sofa"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Newspaper",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Sofa",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I will read the newspaper on the sofa later. Please pick up the newspaper on the sofa and wait beside the sofa.",
+  "max_steps": 66,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor317/task.json b/procthor/tasks/procthor317/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..60e5365f2ee543d7ce3a138cf8401e1b920d38b8
--- /dev/null
+++ b/procthor/tasks/procthor317/task.json
@@ -0,0 +1,60 @@
+{
+  "task_id": "procthor317",
+  "task_name": "Turn On TV, Wait by Sofa",
+  "instruction": "I want to watch TV. Please turn on a TV, then wait beside a sofa.",
+  "golden_actions": {
+    "steps": 22,
+    "actions": [
+      "LookDown",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "ToggleObjectOn(Television)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "Done"
+    ]
+  },
+  "scene_index": 91,
+  "target_object_types": [
+    "Television",
+    "Sofa"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Television",
+      "state": "isToggled",
+      "value": true
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Sofa",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to watch TV. Please turn on a TV, then wait beside a sofa.",
+  "max_steps": 54,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor318/task.json b/procthor/tasks/procthor318/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..8629dcd46d9f50068140dbc911582fd015ce8c48
--- /dev/null
+++ b/procthor/tasks/procthor318/task.json
@@ -0,0 +1,53 @@
+{
+  "task_id": "procthor318",
+  "task_name": "Turn On DeskLamp, Wait by DiningTable.",
+  "instruction": "I want to work. Please turn on a desk lamp, then wait beside a dining table.",
+  "golden_actions": {
+    "steps": 15,
+    "actions": [
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "LookDown",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "ToggleObjectOn(DeskLamp)",
+      "Done"
+    ]
+  },
+  "scene_index": 94,
+  "target_object_types": [
+    "DeskLamp",
+    "DiningTable"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "DeskLamp",
+      "state": "isToggled",
+      "value": true
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "bedroom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "DiningTable",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to work. Please turn on a desk lamp, then wait beside a dining table.",
+  "max_steps": 40,
+  "Evaluation_Type": "Conditional",
+  "Category": "Study and Work",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor400/task.json b/procthor/tasks/procthor400/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e86bb320442cc54ec3e330e4b0e1ea6508334d2
--- /dev/null
+++ b/procthor/tasks/procthor400/task.json
@@ -0,0 +1,71 @@
+{
+  "task_id": "procthor400",
+  "task_name": "Bread and Box Relocation",
+  "instruction": "I'm a bit hungry. First, please go to the kitchen to get the bread and bring it to the dining table in the bedroom. After that, pick up a box from the dining table and take it back to the kitchen.",
+  "golden_actions": {
+    "steps": 38,
+    "actions": [
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "LookDown",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "PickupObject(Bread)",
+      "LookUp",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "LookDown",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "PutObject(DiningTable)",
+      "PickupObject(Box)",
+      "RotateRight(90)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "Done"
+    ]
+  },
+  "scene_index": 400,
+  "target_object_types": [
+    "Bread",
+    "Box"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "Bread",
+      "room_type": "Bedroom"
+    },
+    {
+      "type": "object_in_room",
+      "object_type": "Box",
+      "room_type": "Kitchen"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm a bit hungry. First, please go to the kitchen to get the bread and bring it to the dining table in the bedroom. After that, pick up a box from the dining table and take it back to the kitchen.",
+  "max_steps": 86,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor401/task.json b/procthor/tasks/procthor401/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..275bf175e63725878c148a41a48725641fbdd86d
--- /dev/null
+++ b/procthor/tasks/procthor401/task.json
@@ -0,0 +1,88 @@
+{
+  "task_id": "procthor401",
+  "task_name": "Candle Delivery to Kitchen",
+  "instruction": "The power is out. Please go to the living room, pick up a candle from the table, and bring it to the kitchen.",
+  "golden_actions": {
+    "steps": 61,
+    "actions": [
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "LookDown",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "PickupObject(Candle)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "Done"
+    ]
+  },
+  "scene_index": 400,
+  "target_object_types": [
+    "Candle"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "Candle",
+      "room_type": "Kitchen"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "The power is out. Please go to the living room, pick up a candle from the table, and bring it to the kitchen.",
+  "max_steps": 132,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor402/task.json b/procthor/tasks/procthor402/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f322950e4b929cf21780fe4ad4479a86190557f
--- /dev/null
+++ b/procthor/tasks/procthor402/task.json
@@ -0,0 +1,67 @@
+{
+  "task_id": "procthor402",
+  "task_name": "Basketball Delivery to Bathroom",
+  "instruction": "The basketball is a bit dirty and I'm planning to clean it. Please pick up a basketball from the bedroom floor and take it to the bathroom.",
+  "golden_actions": {
+    "steps": 40,
+    "actions": [
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "LookDown",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(0.25)",
+      "PickupObject(BasketBall)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "Done"
+    ]
+  },
+  "scene_index": 400,
+  "target_object_types": [
+    "BasketBall"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "BasketBall",
+      "room_type": "Bathroom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "The basketball is a bit dirty and I'm planning to clean it. Please pick up a basketball from the bedroom floor and take it to the bathroom.",
+  "max_steps": 90,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor403/task.json b/procthor/tasks/procthor403/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..324e018577eb534b51ae078d5f8cd18cb7637cc0
--- /dev/null
+++ b/procthor/tasks/procthor403/task.json
@@ -0,0 +1,57 @@
+{
+  "task_id": "procthor403",
+  "task_name": "Newspaper Delivery for Reading",
+  "instruction": "I'm ready to read the newspaper. Please get a newspaper from the living room and bring it to the bedroom.",
+  "golden_actions": {
+    "steps": 30,
+    "actions": [
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "LookDown",
+      "MoveAhead(0.25)",
+      "PickupObject(Newspaper)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 401,
+  "target_object_types": [
+    "Newspaper"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "Newspaper",
+      "room_type": "Bedroom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm ready to read the newspaper. Please get a newspaper from the living room and bring it to the bedroom.",
+  "max_steps": 70,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor404/task.json b/procthor/tasks/procthor404/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..86f4efa8341f315b8b97d1501fda377702af6c88
--- /dev/null
+++ b/procthor/tasks/procthor404/task.json
@@ -0,0 +1,75 @@
+{
+  "task_id": "procthor404",
+  "task_name": "Dish Sponge Retrieval for Cleaning",
+  "instruction": "I want to clean the desk in the bedroom. Please go to the bathroom, get a dish sponge, and bring it to the bedroom.",
+  "golden_actions": {
+    "steps": 48,
+    "actions": [
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "LookDown",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "PickupObject(DishSponge)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "Done"
+    ]
+  },
+  "scene_index": 401,
+  "target_object_types": [
+    "DishSponge"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "DishSponge",
+      "room_type": "Bedroom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to clean the desk in the bedroom. Please go to the bathroom, get a dish sponge, and bring it to the bedroom.",
+  "max_steps": 106,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor405/task.json b/procthor/tasks/procthor405/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b8cfde8b9afe3c7e9e6f21594606f9c3685f00d
--- /dev/null
+++ b/procthor/tasks/procthor405/task.json
@@ -0,0 +1,59 @@
+{
+  "task_id": "procthor405",
+  "task_name": "Knife Delivery for Unboxing",
+  "instruction": "I'm planning to open a box with a knife. Please go to the kitchen, get a knife, and bring it to me in the bedroom.",
+  "golden_actions": {
+    "steps": 32,
+    "actions": [
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "LookDown",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "PickupObject(Knife)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 403,
+  "target_object_types": [
+    "Knife"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "Knife",
+      "room_type": "Bedroom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm planning to open a box with a knife. Please go to the kitchen, get a knife, and bring it to me in the bedroom.",
+  "max_steps": 74,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor406/task.json b/procthor/tasks/procthor406/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e868c59446827ec1eecbc15906049f5e011a519
--- /dev/null
+++ b/procthor/tasks/procthor406/task.json
@@ -0,0 +1,95 @@
+{
+  "task_id": "procthor406",
+  "task_name": "Laptop Activation and Keys Delivery",
+  "instruction": "I'm heading out for work. First, please go to the bedroom to open the laptop. Then, pick up a keychain from the bedroom and bring it to the living room.",
+  "golden_actions": {
+    "steps": 61,
+    "actions": [
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "LookDown",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "OpenObject(Laptop)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "PickupObject(KeyChain)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "Done"
+    ]
+  },
+  "scene_index": 403,
+  "target_object_types": [
+    "KeyChain",
+    "Laptop"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "KeyChain",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "object_state",
+      "object_type": "Laptop",
+      "state": "isOpen",
+      "value": true
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm heading out for work. First, please go to the bedroom to open the laptop. Then, pick up a keychain from the bedroom and bring it to the living room.",
+  "max_steps": 132,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor407/task.json b/procthor/tasks/procthor407/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a103c8571c1f24aafbe6fe47886f915cea4acd1
--- /dev/null
+++ b/procthor/tasks/procthor407/task.json
@@ -0,0 +1,66 @@
+{
+  "task_id": "procthor407",
+  "task_name": "Tennis Racket Relocation",
+  "instruction": "The tennis racket is dirty. Please go to the bedroom, pick up the tennis racket, and bring it to the bathroom.",
+  "golden_actions": {
+    "steps": 39,
+    "actions": [
+      "LookDown",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "PickupObject(TennisRacket)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "Done"
+    ]
+  },
+  "scene_index": 404,
+  "target_object_types": [
+    "TennisRacket"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "TennisRacket",
+      "room_type": "Bathroom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "The tennis racket is dirty. Please go to the bedroom, pick up the tennis racket, and bring it to the bathroom.",
+  "max_steps": 88,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor408/task.json b/procthor/tasks/procthor408/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..659cf7a1aede9e758276da1772560a1f3241fa86
--- /dev/null
+++ b/procthor/tasks/procthor408/task.json
@@ -0,0 +1,57 @@
+{
+  "task_id": "procthor408",
+  "task_name": "Wine Bottle Delivery to Bedroom",
+  "instruction": "I'd like to have some wine. Please go to the kitchen, get the wine bottle, and bring it to the bedroom.",
+  "golden_actions": {
+    "steps": 30,
+    "actions": [
+      "RotateRight(90)",
+      "LookDown",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "PickupObject(WineBottle)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 406,
+  "target_object_types": [
+    "WineBottle"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "WineBottle",
+      "room_type": "Bedroom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'd like to have some wine. Please go to the kitchen, get the wine bottle, and bring it to the bedroom.",
+  "max_steps": 70,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor409/task.json b/procthor/tasks/procthor409/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae4f65e7f1a73dcbd6496ca57e3dc661f680728e
--- /dev/null
+++ b/procthor/tasks/procthor409/task.json
@@ -0,0 +1,90 @@
+{
+  "task_id": "procthor409",
+  "task_name": "Baseball Bat Delivery to LivingRoom",
+  "instruction": "I'm getting ready to play baseball. Please go to the bedroom, pick up the baseball bat leaning against the wall under the window, and bring it to the living room.",
+  "golden_actions": {
+    "steps": 63,
+    "actions": [
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "LookDown",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "PickupObject(BaseballBat)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "Done"
+    ]
+  },
+  "scene_index": 406,
+  "target_object_types": [
+    "BaseballBat"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "BaseballBat",
+      "room_type": "LivingRoom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm getting ready to play baseball. Please go to the bedroom, pick up the baseball bat leaning against the wall under the window, and bring it to the living room.",
+  "max_steps": 136,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor410/task.json b/procthor/tasks/procthor410/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef0c33e792ba8b62ce39ff86ccfee0494c7d1717
--- /dev/null
+++ b/procthor/tasks/procthor410/task.json
@@ -0,0 +1,74 @@
+{
+  "task_id": "procthor410",
+  "task_name": "Teddy Bear Delivery to Bathroom",
+  "instruction": "The teddy bear is a bit dirty and needs a wash. Please go to the bedroom, pick up the teddy bear, and bring it to the bathroom.",
+  "golden_actions": {
+    "steps": 47,
+    "actions": [
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "LookDown",
+      "PickupObject(TeddyBear)",
+      "RotateLeft(90)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "LookUp",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 407,
+  "target_object_types": [
+    "TeddyBear"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "TeddyBear",
+      "room_type": "Bathroom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "The teddy bear is a bit dirty and needs a wash. Please go to the bedroom, pick up the teddy bear, and bring it to the bathroom.",
+  "max_steps": 104,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor411/task.json b/procthor/tasks/procthor411/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9afb8c0b24e8343ce4ab9ffa55f6aa059bd397a
--- /dev/null
+++ b/procthor/tasks/procthor411/task.json
@@ -0,0 +1,68 @@
+{
+  "task_id": "procthor411",
+  "task_name": "Basketball Delivery to Kitchen",
+  "instruction": "I'm getting ready to play basketball. Please go to the bedroom, pick up the basketball, and bring it to the kitchen.",
+  "golden_actions": {
+    "steps": 41,
+    "actions": [
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "LookDown",
+      "MoveAhead(0.5)",
+      "PickupObject(BasketBall)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 407,
+  "target_object_types": [
+    "BasketBall"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "BasketBall",
+      "room_type": "Kitchen"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm getting ready to play basketball. Please go to the bedroom, pick up the basketball, and bring it to the kitchen.",
+  "max_steps": 92,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor412/task.json b/procthor/tasks/procthor412/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9a3f1af566dc93fe8af54c137f75f327b81cea3
--- /dev/null
+++ b/procthor/tasks/procthor412/task.json
@@ -0,0 +1,95 @@
+{
+  "task_id": "procthor412",
+  "task_name": "DishSponge Delivery to Bathroom",
+  "instruction": "I am going to clean the bathroom. Please go to the kitchen, pick up a dishsponge, and bring it to the bathroom.",
+  "golden_actions": {
+    "steps": 68,
+    "actions": [
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "LookDown",
+      "MoveAhead(0.25)",
+      "PickupObject(DishSponge)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 407,
+  "target_object_types": [
+    "DishSponge"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "DishSponge",
+      "room_type": "Bathroom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I am going to clean the bathroom. Please go to the kitchen, pick up a dishsponge, and bring it to the bathroom.",
+  "max_steps": 146,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor413/task.json b/procthor/tasks/procthor413/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a0ed3ebd79a23e6bc39aa0620ad69b3cc6fcbf6
--- /dev/null
+++ b/procthor/tasks/procthor413/task.json
@@ -0,0 +1,60 @@
+{
+  "task_id": "procthor413",
+  "task_name": "Laptop Delivery to Kitchen",
+  "instruction": "I have some urgent tasks to handle. Please go to the bedroom and bring a laptop to the kitchen for me.",
+  "golden_actions": {
+    "steps": 33,
+    "actions": [
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "LookDown",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "CloseObject(Laptop)",
+      "PickupObject(Laptop)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "Done"
+    ]
+  },
+  "scene_index": 407,
+  "target_object_types": [
+    "Laptop"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "Laptop",
+      "room_type": "Kitchen"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I have some urgent tasks to handle. Please go to the bedroom and bring a laptop to the kitchen for me.",
+  "max_steps": 76,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor414/task.json b/procthor/tasks/procthor414/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f6659f724e990a3a4159526157f23a20051e6b1
--- /dev/null
+++ b/procthor/tasks/procthor414/task.json
@@ -0,0 +1,79 @@
+{
+  "task_id": "procthor414",
+  "task_name": "Soap Disposal to Kitchen Garbage Can",
+  "instruction": "The soap on the toilet in the bathroom is used. Please pick it up and take it to the kitchen, then throw it into the garbage can.",
+  "golden_actions": {
+    "steps": 47,
+    "actions": [
+      "RotateLeft(90)",
+      "LookDown",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "PickupObject(SoapBar)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "PutObject(GarbageCan)",
+      "Done"
+    ]
+  },
+  "scene_index": 408,
+  "target_object_types": [
+    "SoapBar"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "SoapBar",
+      "room_type": "Kitchen"
+    },
+    {
+      "type": "object_in_receptacle",
+      "object_type": "SoapBar",
+      "receptacle_type": "GarbageCan"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "The soap on the toilet in the bathroom is used. Please pick it up and take it to the kitchen, then throw it into the garbage can.",
+  "max_steps": 104,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor415/init.json b/procthor/tasks/procthor415/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..38dfbf300abbf06b359d638106fc705a2a73520e
--- /dev/null
+++ b/procthor/tasks/procthor415/init.json
@@ -0,0 +1,202 @@
+{
+  "scene_index": 408,
+  "actions": [
+    "RotateRight(90)",
+    "MoveLeft(0.25)",
+    "MoveLeft(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "RotateRight(90)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "LookDown",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "CloseObject(Laptop)",
+    "RotateRight(90)",
+    "MoveRight(0.25)",
+    "MoveRight(0.25)",
+    "MoveRight(0.25)",
+    "MoveAhead(0.25)",
+    "MoveRight(0.25)",
+    "MoveAhead(0.25)",
+    "MoveRight(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "RotateRight(90)",
+    "MoveLeft(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "PickupObject(Vase)",
+    "RotateLeft(90)",
+    "RotateLeft(90)",
+    "MoveRight(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveRight(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveLeft(0.25)",
+    "RotateLeft(90)",
+    "MoveRight(0.25)",
+    "MoveAhead(0.25)",
+    "PutObject(CounterTop)",
+    "RotateLeft(90)",
+    "MoveLeft(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveLeft(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveRight(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "PickupObject(Book)",
+    "RotateRight(90)",
+    "RotateRight(90)",
+    "RotateRight(90)",
+    "RotateLeft(90)",
+    "MoveRight(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "RotateLeft(90)",
+    "MoveRight(0.25)",
+    "MoveRight(0.25)",
+    "MoveRight(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "PutObject(CounterTop)",
+    "RotateLeft(90)",
+    "MoveLeft(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveLeft(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveRight(0.25)",
+    "MoveRight(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "PickupObject(Plate)",
+    "RotateLeft(90)",
+    "RotateLeft(90)",
+    "MoveRight(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveRight(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "RotateLeft(90)",
+    "MoveRight(0.25)",
+    "MoveRight(0.25)",
+    "MoveRight(0.25)",
+    "MoveRight(0.25)",
+    "MoveRight(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "PutObject(CounterTop)",
+    "RotateLeft(90)",
+    "MoveLeft(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveLeft(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "RotateRight(90)",
+    "MoveLeft(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "RotateRight(90)",
+    "MoveLeft(0.25)",
+    "MoveLeft(0.25)",
+    "MoveLeft(0.25)",
+    "MoveBack(0.25)",
+    "Done"
+  ]
+}
\ No newline at end of file
diff --git a/procthor/tasks/procthor415/task.json b/procthor/tasks/procthor415/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..325fae037721c1238b31ed95ff752e338527b523
--- /dev/null
+++ b/procthor/tasks/procthor415/task.json
@@ -0,0 +1,116 @@
+{
+  "task_id": "procthor415",
+  "task_name": "Electronics Relocation to Living Room",
+  "instruction": "I'm planning to clean up the bedroom. Please pick up a cell phone and a laptop from the bedroom and bring them to the dining table in the living room.",
+  "golden_actions": {
+    "steps": 63,
+    "actions": [
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "PickupObject(CellPhone)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "PutObject(DiningTable)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "PickupObject(Laptop)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "PutObject(DiningTable)",
+      "LookDown",
+      "MoveAhead(0.25)",
+      "PutObject(DiningTable)",
+      "Done"
+    ]
+  },
+  "scene_index": 408,
+  "target_object_types": [
+    "CellPhone",
+    "Laptop"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "CellPhone",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "object_in_room",
+      "object_type": "Laptop",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "object_in_receptacle",
+      "object_type": "CellPhone",
+      "receptacle_type": "DiningTable"
+    },
+    {
+      "type": "object_in_receptacle",
+      "object_type": "Laptop",
+      "receptacle_type": "DiningTable"
+    },
+    {
+      "type": "object_not_in_room",
+      "object_type": "CellPhone",
+      "room_type": "Bedroom"
+    },
+    {
+      "type": "object_not_in_room",
+      "object_type": "Laptop",
+      "room_type": "Bedroom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm planning to clean up the bedroom. Please pick up a cell phone and a laptop from the bedroom and bring them to the dining table in the living room.",
+  "max_steps": 136,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor419/init.json b/procthor/tasks/procthor419/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..14b9039bebb021b24e0c1830c566f9e2e9a76dcd
--- /dev/null
+++ b/procthor/tasks/procthor419/init.json
@@ -0,0 +1,126 @@
+{
+  "scene_index": 419,
+  "actions": [
+    "RotateRight(90)",
+    "LookDown",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "RotateRight(90)",
+    "MoveLeft(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveLeft(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "PickupObject(Pillow)",
+    "RotateRight(90)",
+    "RotateRight(90)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "RotateLeft(90)",
+    "MoveRight(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveRight(0.25)",
+    "MoveRight(0.25)",
+    "MoveRight(0.25)",
+    "MoveRight(0.25)",
+    "MoveAhead(0.25)",
+    "MoveRight(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveLeft(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "RotateRight(90)",
+    "MoveAhead(0.25)",
+    "PutObject(CounterTop)",
+    "RotateRight(90)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "RotateRight(90)",
+    "MoveLeft(0.25)",
+    "MoveLeft(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "RotateRight(90)",
+    "MoveLeft(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "RotateLeft(90)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "MoveAhead(0.25)",
+    "RotateRight(90)",
+    "RotateRight(90)",
+    "MoveLeft(0.25)",
+    "MoveBack(0.25)",
+    "MoveBack(0.25)",
+    "MoveBack(0.25)",
+    "MoveBack(0.25)",
+    "MoveLeft(0.25)",
+    "MoveBack(0.25)",
+    "MoveBack(0.25)",
+    "MoveBack(0.25)",
+    "Done"
+  ]
+}
\ No newline at end of file
diff --git a/procthor/tasks/procthor419/task.json b/procthor/tasks/procthor419/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6c057b2758336978f93d0fe2ec932bddbc73095
--- /dev/null
+++ b/procthor/tasks/procthor419/task.json
@@ -0,0 +1,160 @@
+{
+  "task_id": "procthor419",
+  "task_name": "Bed Cleaning and Items Relocation",
+  "instruction": "I need to tidy up the bedroom. Please pick up a pillow from the bed and take it to the sofa in the living room. After that, pick up the other items on the bed and bring them to the dining table in the living room. Finally, clean the bed.",
+  "golden_actions": {
+    "steps": 100,
+    "actions": [
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "PickupObject(Pillow)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "LookDown",
+      "PutObject(Sofa)",
+      "RotateRight(90)",
+      "LookUp",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "PickupObject(AlarmClock)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "PutObject(DiningTable)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "CleanObject(Bed)",
+      "MoveAhead(0.25)",
+      "PickupObject(RemoteControl)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "PutObject(DiningTable)",
+      "Done"
+    ]
+  },
+  "scene_index": 419,
+  "target_object_types": [
+    "RemoteControl",
+    "AlarmClock",
+    "Pillow"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "Pillow",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "object_in_room",
+      "object_type": "AlarmClock",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "object_in_room",
+      "object_type": "RemoteControl",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "object_in_receptacle",
+      "object_type": "AlarmClock",
+      "receptacle_type": "DiningTable"
+    },
+    {
+      "type": "object_in_receptacle",
+      "object_type": "RemoteControl",
+      "receptacle_type": "DiningTable"
+    },
+    {
+      "type": "object_in_receptacle",
+      "object_type": "Pillow",
+      "receptacle_type": "Sofa"
+    },
+    {
+      "type": "object_state",
+      "object_type": "Bed",
+      "state": "isDirty",
+      "value": false
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I need to tidy up the bedroom. Please pick up a pillow from the bed and take it to the sofa in the living room. After that, pick up the other items on the bed and bring them to the dining table in the living room. Finally, clean the bed.",
+  "max_steps": 210,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor501/task.json b/procthor/tasks/procthor501/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a4210eb63c35152909b09d8d49b77934dff45bd
--- /dev/null
+++ b/procthor/tasks/procthor501/task.json
@@ -0,0 +1,75 @@
+{
+  "task_id": "procthor501",
+  "task_name": "Turn off floor lamp and prepare the TV",
+  "instruction": "I'm getting ready to sleep. I'd like to lie in bed and watch some TV before I go to sleep. Please go to the living room and turn off a floor lamp. Then, go to the bedroom, tidy up the bed, and turn on the TV for me.",
+  "golden_actions": {
+    "steps": 33,
+    "actions": [
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "ToggleObjectOff(FloorLamp)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "CleanObject(Bed)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "ToggleObjectOn(Television)",
+      "Done"
+    ]
+  },
+  "scene_index": 152,
+  "target_object_types": [
+    "Television",
+    "FloorLamp",
+    "Bed"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Television",
+      "state": "isToggled",
+      "value": true
+    },
+    {
+      "type": "object_state",
+      "object_type": "Bed",
+      "state": "isDirty",
+      "value": false
+    },
+    {
+      "type": "object_state",
+      "object_type": "FloorLamp",
+      "state": "isToggled",
+      "value": false
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm getting ready to sleep. I'd like to lie in bed and watch some TV before I go to sleep. Please go to the living room and turn off a floor lamp. Then, go to the bedroom, tidy up the bed, and turn on the TV for me.",
+  "max_steps": 76,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor502/task.json b/procthor/tasks/procthor502/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce5e8df381ec2dc79997ecc9f3d59ddf327ef2ae
--- /dev/null
+++ b/procthor/tasks/procthor502/task.json
@@ -0,0 +1,86 @@
+{
+  "task_id": "procthor502",
+  "task_name": "Turn off desk lamp and bring phone to bedside",
+  "instruction": "I've finished my work and I'm planning to rest in bed. Please turn off a desk lamp, power on a cellphone, and bring the phone to the bedside for me.",
+  "golden_actions": {
+    "steps": 39,
+    "actions": [
+      "RotateLeft(90)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "ToggleObjectOff(DeskLamp)",
+      "ToggleObjectOn(CellPhone)",
+      "PickupObject(CellPhone)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "Done"
+    ]
+  },
+  "scene_index": 154,
+  "target_object_types": [
+    "DeskLamp",
+    "CellPhone",
+    "Bed"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "CellPhone",
+      "state": "isToggled",
+      "value": true
+    },
+    {
+      "type": "object_state",
+      "object_type": "CellPhone",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "object_state",
+      "object_type": "DeskLamp",
+      "state": "isToggled",
+      "value": false
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Bed",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I've finished my work and I'm planning to rest in bed. Please turn off a desk lamp, power on a cellphone, and bring the phone to the bedside for me.",
+  "max_steps": 88,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor600/task.json b/procthor/tasks/procthor600/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..754677258af227f3887788403a3f1bdd0e0e162b
--- /dev/null
+++ b/procthor/tasks/procthor600/task.json
@@ -0,0 +1,54 @@
+{
+  "task_id": "procthor600",
+  "task_name": "Clear walkway and bedside relocation",
+  "instruction": "I am finishing my day. To keep the walkways clear, please relocate to the bedroom and position yourself by a bedside.",
+  "golden_actions": {
+    "steps": 23,
+    "actions": [
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "LookDown",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 105,
+  "target_object_types": [
+    "Bed"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "Bedroom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Bed",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I am finishing my day. To keep the walkways clear, please relocate to the bedroom and position yourself by a bedside.",
+  "max_steps": 56,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level1 Navigation"
+}
diff --git a/procthor/tasks/procthor601/task.json b/procthor/tasks/procthor601/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..78574f0e032306f8fa7df2b6b803ab0ad61f942c
--- /dev/null
+++ b/procthor/tasks/procthor601/task.json
@@ -0,0 +1,56 @@
+{
+  "task_id": "procthor601",
+  "task_name": "Fetch the pen",
+  "instruction": "I want to start studying. Please move to the living room and fetch a pen from the table in the living room.",
+  "golden_actions": {
+    "steps": 24,
+    "actions": [
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "LookDown",
+      "MoveAhead(0.5)",
+      "PickupObject(Pen)",
+      "Done"
+    ]
+  },
+  "scene_index": 135,
+  "target_object_types": [
+    "Pen"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "Livingroom"
+    },
+    {
+      "type": "object_state",
+      "object_type": "Pen",
+      "state": "isPickedUp",
+      "value": true
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to start studying. Please move to the living room and fetch a pen from the table in the living room.",
+  "max_steps": 58,
+  "Evaluation_Type": "Conditional",
+  "Category": "Study and Work",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor602/task.json b/procthor/tasks/procthor602/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..e897a413e21b4f2cc54e3371a1bdad1f39e94fcb
--- /dev/null
+++ b/procthor/tasks/procthor602/task.json
@@ -0,0 +1,83 @@
+{
+  "task_id": "procthor602",
+  "task_name": "Go to the kitchen and get the tomato",
+  "instruction": "I am hungry. Please move to the kitchen and get the tomato from the stove in the kitchen.",
+  "golden_actions": {
+    "steps": 51,
+    "actions": [
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "PickupObject(Tomato)",
+      "Done"
+    ]
+  },
+  "scene_index": 125,
+  "target_object_types": [
+    "Tomato"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "Kitchen"
+    },
+    {
+      "type": "object_state",
+      "object_type": "Tomato",
+      "state": "isPickedUp",
+      "value": true
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I am hungry. Please move to the kitchen and get the tomato from the stove in the kitchen.",
+  "max_steps": 112,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor603/task.json b/procthor/tasks/procthor603/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a584dcc3a444a099f11b0504a6844987a039982
--- /dev/null
+++ b/procthor/tasks/procthor603/task.json
@@ -0,0 +1,72 @@
+{
+  "task_id": "procthor603",
+  "task_name": "Bedside standby",
+  "instruction": "I am going to sleep. Please proceed to the bedroom and position yourself at a bedside to remain available for my assistance.",
+  "golden_actions": {
+    "steps": 41,
+    "actions": [
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "LookDown",
+      "Done"
+    ]
+  },
+  "scene_index": 125,
+  "target_object_types": [
+    "Bed"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "Bedroom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Bed",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I am going to sleep. Please proceed to the bedroom and position yourself at a bedside to remain available for my assistance.",
+  "max_steps": 92,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level1 Navigation"
+}
diff --git a/procthor/tasks/procthor604/task.json b/procthor/tasks/procthor604/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6f38915938370cc42014c457f213be230ba9dea
--- /dev/null
+++ b/procthor/tasks/procthor604/task.json
@@ -0,0 +1,66 @@
+{
+  "task_id": "procthor604",
+  "task_name": "Go to open the book",
+  "instruction": "I want to study. Please go to the sofa in the living room, pick up a book, open it, and stay there waiting for me.",
+  "golden_actions": {
+    "steps": 22,
+    "actions": [
+      "RotateLeft(90)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "LookDown",
+      "MoveAhead(0.5)",
+      "PickupObject(Book)",
+      "OpenObject(Book)",
+      "Done"
+    ]
+  },
+  "scene_index": 128,
+  "target_object_types": [
+    "Book",
+    "Sofa"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "object_state",
+      "object_type": "Book",
+      "state": "isOpen",
+      "value": true
+    },
+    {
+      "type": "object_state",
+      "object_type": "Book",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Sofa",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to study. Please go to the sofa in the living room, pick up a book, open it, and stay there waiting for me.",
+  "max_steps": 54,
+  "Evaluation_Type": "Conditional",
+  "Category": "Study and Work",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor605/task.json b/procthor/tasks/procthor605/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea2c592fcd4541be8e6d3e961865d928dfdc29b0
--- /dev/null
+++ b/procthor/tasks/procthor605/task.json
@@ -0,0 +1,68 @@
+{
+  "task_id": "procthor605",
+  "task_name": "Fetch apple to sofa",
+  "instruction": "I want to eat fruit. Please pick up the apple from the table in front of you and navigate to the front of the sofa in the living room.",
+  "golden_actions": {
+    "steps": 30,
+    "actions": [
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "LookDown",
+      "MoveAhead(0.5)",
+      "PickupObject(Apple)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "Done"
+    ]
+  },
+  "scene_index": 333,
+  "target_object_types": [
+    "Apple",
+    "Sofa"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "object_state",
+      "object_type": "Apple",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Sofa",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to eat fruit. Please pick up the apple from the table in front of you and navigate to the front of the sofa in the living room.",
+  "max_steps": 70,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor606/task.json b/procthor/tasks/procthor606/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..acd03e67d325d39b2f5c845d828c0ad9d0dfe662
--- /dev/null
+++ b/procthor/tasks/procthor606/task.json
@@ -0,0 +1,89 @@
+{
+  "task_id": "procthor606",
+  "task_name": "Fetch alarm to bed",
+  "instruction": "I need to get up early. Please go to the bedroom, pick up the alarm clock on the table, and place it on the bed.",
+  "golden_actions": {
+    "steps": 49,
+    "actions": [
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "PickupObject(AlarmClock)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "LookDown",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "PutObject(Bed)",
+      "Done"
+    ]
+  },
+  "scene_index": 334,
+  "target_object_types": [
+    "Bed",
+    "AlarmClock",
+    "Dresser"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "bedroom"
+    },
+    {
+      "type": "object_in_receptacle",
+      "object_type": "AlarmClock",
+      "receptacle_type": "Bed",
+      "value": "true"
+    },
+    {
+      "type": "object_in_receptacle",
+      "object_type": "AlarmClock",
+      "receptacle_type": "Dresser",
+      "value": false
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I need to get up early. Please go to the bedroom, pick up the alarm clock on the table, and place it on the bed.",
+  "max_steps": 108,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor607/task.json b/procthor/tasks/procthor607/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..bccc32f588d97ac79c45c25388334d2862477f79
--- /dev/null
+++ b/procthor/tasks/procthor607/task.json
@@ -0,0 +1,74 @@
+{
+  "task_id": "procthor607",
+  "task_name": "Fetch phone to bedside",
+  "instruction": "I want to relax. Please fetch the phone from the table and navigate to the bedside in the bedroom.",
+  "golden_actions": {
+    "steps": 36,
+    "actions": [
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "LookDown",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "PickupObject(CellPhone)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "Done"
+    ]
+  },
+  "scene_index": 335,
+  "target_object_types": [
+    "cellphone",
+    "Bed"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "bedroom"
+    },
+    {
+      "type": "object_state",
+      "object_type": "CellPhone",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Bed",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to relax. Please fetch the phone from the table and navigate to the bedside in the bedroom.",
+  "max_steps": 82,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor608/task.json b/procthor/tasks/procthor608/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c703689702d58ecd50bb730d8c0c0e000244ba8
--- /dev/null
+++ b/procthor/tasks/procthor608/task.json
@@ -0,0 +1,42 @@
+{
+  "task_id": "procthor608",
+  "task_name": "Turn on the laptop",
+  "instruction": "I want to study. Please move to the living room and turn on a laptop.",
+  "golden_actions": {
+    "steps": 10,
+    "actions": [
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "ToggleObjectOn(Laptop)",
+      "Done"
+    ]
+  },
+  "scene_index": 333,
+  "target_object_types": [
+    "Laptop"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "object_state",
+      "object_type": "Laptop",
+      "state": "isToggled",
+      "value": true
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to study. Please move to the living room and turn on a laptop.",
+  "max_steps": 30,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor609/task.json b/procthor/tasks/procthor609/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bb8b3c079ed4062338c7c7c0aea98056e7e5f32
--- /dev/null
+++ b/procthor/tasks/procthor609/task.json
@@ -0,0 +1,88 @@
+{
+  "task_id": "procthor609",
+  "task_name": "Bring remote control to sofa",
+  "instruction": "I want to watch TV. Please fetch the remote control from the table in the bedroom and navigate to the sofa in the living room.",
+  "golden_actions": {
+    "steps": 51,
+    "actions": [
+      "RotateLeft(90)",
+      "LookDown",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "PickupObject(RemoteControl)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 101,
+  "target_object_types": [
+    "RemoteControl",
+    "Sofa"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "object_state",
+      "object_type": "RemoteControl",
+      "state": "isPickedUp"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Sofa",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to watch TV. Please fetch the remote control from the table in the bedroom and navigate to the sofa in the living room.",
+  "max_steps": 112,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor610/task.json b/procthor/tasks/procthor610/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..59c3ce5faaa3a3276eeda3045d8dc9f24f45596e
--- /dev/null
+++ b/procthor/tasks/procthor610/task.json
@@ -0,0 +1,50 @@
+{
+  "task_id": "procthor610",
+  "task_name": "Bring apple to sofa",
+  "instruction": "I want to relax. Please fetch the apple in the kitchen and move to the sofa in the living room.",
+  "golden_actions": {
+    "steps": 13,
+    "actions": [
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "PickupObject(Apple)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "LookDown",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "Done"
+    ]
+  },
+  "scene_index": 111,
+  "target_object_types": [
+    "Apple",
+    "Sofa"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "object_state",
+      "object_type": "Apple",
+      "state": "isPickedUp"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Sofa",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to relax. Please fetch the apple in the kitchen and move to the sofa in the living room.",
+  "max_steps": 36,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor611/task.json b/procthor/tasks/procthor611/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..10d6193e3a3203a3df86fd6a5fbedca0725040eb
--- /dev/null
+++ b/procthor/tasks/procthor611/task.json
@@ -0,0 +1,57 @@
+{
+  "task_id": "procthor611",
+  "task_name": "Bring book to table",
+  "instruction": "I want to read. Please fetch the book in the bedroom and move to a dining table in the living room.",
+  "golden_actions": {
+    "steps": 20,
+    "actions": [
+      "LookDown",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "PickupObject(Book)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 122,
+  "target_object_types": [
+    "Book",
+    "DiningTable"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "object_state",
+      "object_type": "Book",
+      "state": "isPickedUp"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "DiningTable",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to read. Please fetch the book in the bedroom and move to a dining table in the living room.",
+  "max_steps": 50,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor612/task.json b/procthor/tasks/procthor612/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..68f36af482ea388a6cee964102a4bb81b4619842
--- /dev/null
+++ b/procthor/tasks/procthor612/task.json
@@ -0,0 +1,61 @@
+{
+  "task_id": "procthor612",
+  "task_name": "Turn off the desk lamp",
+  "instruction": "I am going to relax. Please move to the living room and turn off a desk lamp.",
+  "golden_actions": {
+    "steps": 29,
+    "actions": [
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "LookDown",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "ToggleObjectOff(DeskLamp)",
+      "Done"
+    ]
+  },
+  "scene_index": 123,
+  "target_object_types": [
+    "DeskLamp"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "object_state",
+      "object_type": "DeskLamp",
+      "state": "isToggled",
+      "value": false
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I am going to relax. Please move to the living room and turn off a desk lamp.",
+  "max_steps": 68,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor613/task.json b/procthor/tasks/procthor613/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc392f64dfaf08a507b3f466db854155b3fefadc
--- /dev/null
+++ b/procthor/tasks/procthor613/task.json
@@ -0,0 +1,45 @@
+{
+  "task_id": "procthor613",
+  "task_name": "Open the box",
+  "instruction": "Please move to the bedroom and open the box there to check if there is anything inside.",
+  "golden_actions": {
+    "steps": 14,
+    "actions": [
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "LookDown",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "OpenObject(Box)",
+      "Done"
+    ]
+  },
+  "scene_index": 68,
+  "target_object_types": [
+    "Box"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "Bedroom"
+    },
+    {
+      "type": "object_state",
+      "object_type": "Box",
+      "state": "isOpen"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "Please move to the bedroom and open the box there to check if there is anything inside.",
+  "max_steps": 38,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor614/task.json b/procthor/tasks/procthor614/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..4701bbd2a9163f864c92f529b9e4b24ecc418f1c
--- /dev/null
+++ b/procthor/tasks/procthor614/task.json
@@ -0,0 +1,54 @@
+{
+  "task_id": "procthor614",
+  "task_name": "Turn on the faucet",
+  "instruction": "I am going to wash my face. Please navigate to the bathroom and turn on a faucet there.",
+  "golden_actions": {
+    "steps": 23,
+    "actions": [
+      "MoveAhead(0.5)",
+      "LookDown",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "ToggleObjectOn(Faucet)",
+      "Done"
+    ]
+  },
+  "scene_index": 99,
+  "target_object_types": [
+    "Faucet"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "bathroom"
+    },
+    {
+      "type": "object_state",
+      "object_type": "Faucet",
+      "state": "isToggled"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I am going to wash my face. Please navigate to the bathroom and turn on a faucet there.",
+  "max_steps": 56,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor615/task.json b/procthor/tasks/procthor615/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..1af237e1b8eba05484ee76b23d543ef67414b508
--- /dev/null
+++ b/procthor/tasks/procthor615/task.json
@@ -0,0 +1,59 @@
+{
+  "task_id": "procthor615",
+  "task_name": "Fetch the tomato",
+  "instruction": "I am going to cook. Please navigate to the kitchen, find the tomato and then pick it up.",
+  "golden_actions": {
+    "steps": 28,
+    "actions": [
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "LookDown",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "PickupObject(Tomato)",
+      "Done"
+    ]
+  },
+  "scene_index": 9,
+  "target_object_types": [
+    "Tomato"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "Kitchen"
+    },
+    {
+      "type": "object_state",
+      "object_type": "Tomato",
+      "state": "isPickedUp"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I am going to cook.Please navigate to the kitchen,find the tomato and then pick it up.",
+  "max_steps": 66,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor616/task.json b/procthor/tasks/procthor616/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..effeedca701b409e0100100e0e4b4f1230f00393
--- /dev/null
+++ b/procthor/tasks/procthor616/task.json
@@ -0,0 +1,72 @@
+{
+  "task_id": "procthor616",
+  "task_name": "Open the faucet",
+  "instruction": "I am going to wash my hands. Please navigate to the bathroom and turn on the faucet there.",
+  "golden_actions": {
+    "steps": 41,
+    "actions": [
+      "LookDown",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "LookDown",
+      "MoveRight(0.25)",
+      "LookUp",
+      "LookUp",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "ToggleObjectOn(Faucet)",
+      "Done"
+    ]
+  },
+  "scene_index": 10,
+  "target_object_types": [
+    "Faucet"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "bathroom"
+    },
+    {
+      "type": "object_state",
+      "object_type": "Faucet",
+      "state": "isToggled"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I am going to wash my hands.Please navigate to the bathroom and turn on the faucet there.",
+  "max_steps": 92,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor617/task.json b/procthor/tasks/procthor617/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..1554e3ba758b174166ea47318aca51c73b0c13ad
--- /dev/null
+++ b/procthor/tasks/procthor617/task.json
@@ -0,0 +1,61 @@
+{
+  "task_id": "procthor617",
+  "task_name": "Take the phone to the countertop",
+  "instruction": "I am cooking and need to check my phone. Please navigate to the sofa in the living room to pick up the phone, then navigate to the kitchen and place it on the countertop.",
+  "golden_actions": {
+    "steps": 29,
+    "actions": [
+      "LookDown",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "PickupObject(CellPhone)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "LookUp",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "PutObject(CounterTop)",
+      "Done"
+    ]
+  },
+  "scene_index": 103,
+  "target_object_types": [
+    "CounterTop",
+    "CellPhone"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "Kitchen"
+    },
+    {
+      "type": "object_in_receptacle",
+      "object_type": "CellPhone",
+      "receptacle_type": "CounterTop"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I am cooking and need to check my phone. Please navigate to the sofa in the living room to pick up the phone, then navigate to the kitchen and place it on the countertop.",
+  "max_steps": 68,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor618/task.json b/procthor/tasks/procthor618/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..db2c6051b2af1383f7935d52968bed3cabb09e3b
--- /dev/null
+++ b/procthor/tasks/procthor618/task.json
@@ -0,0 +1,58 @@
+{
+  "task_id": "procthor618",
+  "task_name": "Clean the bedroom",
+  "instruction": "I want to clean my bedroom. Please navigate to the bedroom and fetch the baseball bat from the floor and place it on the dresser.",
+  "golden_actions": {
+    "steps": 26,
+    "actions": [
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "LookDown",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "PickupObject(BaseballBat)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "PutObject(Dresser)",
+      "MoveBack(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 18,
+  "target_object_types": [
+    "BaseballBat",
+    "Dresser"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "Bedroom"
+    },
+    {
+      "type": "object_in_receptacle",
+      "object_type": "BaseballBat",
+      "receptacle_type": "Dresser"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to clean my bedroom. Please navigate to the bedroom and fetch the baseball bat from the floor and place it on the dresser.",
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid",
+  "max_steps": 62
+}
diff --git a/procthor/tasks/procthor619/task.json b/procthor/tasks/procthor619/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7a7963a9614aef6c1d9d16d04b66d7e04cf5b7d
--- /dev/null
+++ b/procthor/tasks/procthor619/task.json
@@ -0,0 +1,65 @@
+{
+  "task_id": "procthor619",
+  "task_name": "Clean the living room",
+  "instruction": "I want to clean my living room. Please navigate to the living room and fetch the newspaper from the sofa and place it on the dining table.",
+  "golden_actions": {
+    "steps": 33,
+    "actions": [
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "LookDown",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "PickupObject(Newspaper)",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "PutObject(DiningTable)",
+      "Done"
+    ]
+  },
+  "scene_index": 155,
+  "target_object_types": [
+    "Newspaper",
+    "DiningTable"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_in_room",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "object_in_receptacle",
+      "object_type": "Newspaper",
+      "receptacle_type": "DiningTable"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to clean my living room. Please navigate to the living room and fetch the newspaper from the sofa and place it on the dining table.",
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid",
+  "max_steps": 76
+}
diff --git a/procthor/tasks/procthor700/task.json b/procthor/tasks/procthor700/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..56de64fffffcbfc8c7123333dc3f807afc8b9186
--- /dev/null
+++ b/procthor/tasks/procthor700/task.json
@@ -0,0 +1,71 @@
+{
+  "task_id": "procthor700",
+  "task_name": "bring the spray bottle",
+  "instruction": "I want to clean the dog bed. Please bring the spray bottle next to the dog bed.",
+  "golden_actions": {
+    "steps": 33,
+    "actions": [
+      "RotateLeft(90)",
+      "LookDown",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "PickupObject(SprayBottle)",
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 200,
+  "target_object_types": [
+    "DogBed",
+    "SprayBottle"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "SprayBottle",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "Bedroom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "DogBed",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to clean the dog bed. Please bring the spray bottle next to the dog bed.",
+  "max_steps": 76,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor701/task.json b/procthor/tasks/procthor701/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..33b976430c6fa026e7e44c25f6993a61306ffa05
--- /dev/null
+++ b/procthor/tasks/procthor701/task.json
@@ -0,0 +1,76 @@
+{
+  "task_id": "procthor701",
+  "task_name": "Pick up the basketball and wait by the sofa",
+  "instruction": "I want to play basketball in the living room. Please pick up the basketball and stand beside the sofa and wait for me.",
+  "golden_actions": {
+    "steps": 38,
+    "actions": [
+      "RotateLeft(90)",
+      "LookDown",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "PickupObject(BasketBall)",
+      "RotateLeft(90)",
+      "MoveBack(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "Done"
+    ]
+  },
+  "scene_index": 200,
+  "target_object_types": [
+    "Sofa",
+    "BasketBall"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "BasketBall",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Sofa",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to play basketball in the living room. Please pick up the basketball and stand beside the sofa and wait for me.",
+  "max_steps": 86,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor702/task.json b/procthor/tasks/procthor702/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..10694bbb255ce835dceaa7368f25b73509994dbb
--- /dev/null
+++ b/procthor/tasks/procthor702/task.json
@@ -0,0 +1,66 @@
+{
+  "task_id": "procthor702",
+  "task_name": "Microwave standby with alarm clock",
+  "instruction": "I want to cook. Please pick up the alarm clock and stand beside the microwave in the kitchen.",
+  "golden_actions": {
+    "steps": 28,
+    "actions": [
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "PickupObject(AlarmClock)",
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "LookDown",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 200,
+  "target_object_types": [
+    "Microwave",
+    "AlarmClock"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "AlarmClock",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "Kitchen"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Microwave",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to cook. Please pick up the alarm clock and stand beside the microwave in the kitchen.",
+  "max_steps": 66,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor703/task.json b/procthor/tasks/procthor703/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..822f6ffcde08c94755011ed8ebd88f864dfd5bca
--- /dev/null
+++ b/procthor/tasks/procthor703/task.json
@@ -0,0 +1,86 @@
+{
+  "task_id": "procthor703",
+  "task_name": "Bedside with eggs",
+  "instruction": "I want to have breakfast in bed. Please pick up the eggs and stand by the bed.",
+  "golden_actions": {
+    "steps": 48,
+    "actions": [
+      "RotateLeft(90)",
+      "LookDown",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "PickupObject(Egg)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 200,
+  "target_object_types": [
+    "Bed",
+    "Egg"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Egg",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "Bedroom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Bed",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to have breakfast in bed. Please pick up the eggs and stand by the bed.",
+  "max_steps": 106,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor704/task.json b/procthor/tasks/procthor704/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..f189c6c4288e43459d740be13a13929517410e2a
--- /dev/null
+++ b/procthor/tasks/procthor704/task.json
@@ -0,0 +1,75 @@
+{
+  "task_id": "procthor704",
+  "task_name": "Turn off floor lamp and wait by bed",
+  "instruction": "Please go to the living room and turn off the floor lamp. Then come back to the bedside of the bedroom and wait for me.",
+  "golden_actions": {
+    "steps": 37,
+    "actions": [
+      "LookDown",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "ToggleObjectOff(FloorLamp)",
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "Done"
+    ]
+  },
+  "scene_index": 200,
+  "target_object_types": [
+    "Bed",
+    "FloorLamp"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "FloorLamp",
+      "state": "isToggled",
+      "value": false
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "Bedroom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Bed",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "Please go to the living room and turn off the floor lamp. Then come back to the bedside of the bedroom and wait for me.",
+  "max_steps": 84,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor705/task.json b/procthor/tasks/procthor705/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..4adb36bec3bd31f02af0a2566d595abc7d9b509b
--- /dev/null
+++ b/procthor/tasks/procthor705/task.json
@@ -0,0 +1,52 @@
+{
+  "task_id": "procthor705",
+  "task_name": "Bring Sponge, Stand by Toilet",
+  "instruction": "I want to clean the toilet. Please pick up a dish sponge and stand next to the toilet while I wait.",
+  "golden_actions": {
+    "steps": 14,
+    "actions": [
+      "LookDown",
+      "RotateRight(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "PickupObject(DishSponge)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "Done"
+    ]
+  },
+  "scene_index": 221,
+  "target_object_types": [
+    "DishSponge",
+    "Toilet"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "DishSponge",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "Bathroom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Toilet",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I want to clean the toilet. Please pick up a dish sponge and stand next to the toilet while I wait.",
+  "max_steps": 38,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor706/task.json b/procthor/tasks/procthor706/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a4bd8f403458184c128f192105e95c1707c8301
--- /dev/null
+++ b/procthor/tasks/procthor706/task.json
@@ -0,0 +1,101 @@
+{
+  "task_id": "procthor706",
+  "task_name": "Bring Basketball, Wait by Sofa",
+  "instruction": "I'd like to play basketball. Please pick up the basketball and stand by the sofa in the living room while I wait.",
+  "golden_actions": {
+    "steps": 63,
+    "actions": [
+      "LookDown",
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "PickupObject(BasketBall)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 221,
+  "target_object_types": [
+    "BasketBall",
+    "Sofa"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "BasketBall",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Sofa",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'd like to play basketball. Please pick up the basketball and stand by the sofa in the living room while I wait.",
+  "max_steps": 136,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor707/task.json b/procthor/tasks/procthor707/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..2916f9ba65671891ce9ad91dbd10f0dc9b7a9386
--- /dev/null
+++ b/procthor/tasks/procthor707/task.json
@@ -0,0 +1,59 @@
+{
+  "task_id": "procthor707",
+  "task_name": "Bring Cloth, Stand by Bed",
+  "instruction": "I'd like to wipe the bed. Please pick up a cloth and stand beside the bed while I wait.",
+  "golden_actions": {
+    "steps": 25,
+    "actions": [
+      "LookDown",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "PickupObject(Cloth)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveLeft(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "Done"
+    ]
+  },
+  "scene_index": 221,
+  "target_object_types": [
+    "Cloth",
+    "Bed"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Cloth",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Bed",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'd like to wipe the bed. Please pick up a cloth and stand beside the bed while I wait.",
+  "max_steps": 60,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor708/task.json b/procthor/tasks/procthor708/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..57a79148d4a0dac5e74ae043bd4dc1618fb51bc1
--- /dev/null
+++ b/procthor/tasks/procthor708/task.json
@@ -0,0 +1,94 @@
+{
+  "task_id": "procthor708",
+  "task_name": "Bring Laptop, Stand by Sofa",
+  "instruction": "I'd like to work on the sofa for a while. Please pick up your laptop and stand next to the sofa while I wait.",
+  "golden_actions": {
+    "steps": 56,
+    "actions": [
+      "LookDown",
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "PickupObject(Laptop)",
+      "RotateLeft(90)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "Done"
+    ]
+  },
+  "scene_index": 221,
+  "target_object_types": [
+    "Laptop",
+    "Sofa"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Laptop",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Sofa",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'd like to work on the sofa for a while. Please pick up your laptop and stand next to the sofa while I wait.",
+  "max_steps": 122,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/procthor709/task.json b/procthor/tasks/procthor709/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..1abca550dec85796785691157301b39cd2ffc4c9
--- /dev/null
+++ b/procthor/tasks/procthor709/task.json
@@ -0,0 +1,102 @@
+{
+  "task_id": "procthor709",
+  "task_name": "Bring Keychain, Wait by Sofa",
+  "instruction": "I'm going out. Please take a keychain and wait for me by the sofa.",
+  "golden_actions": {
+    "steps": 64,
+    "actions": [
+      "LookDown",
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveAhead(0.5)",
+      "PickupObject(KeyChain)",
+      "RotateLeft(90)",
+      "RotateLeft(90)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.5)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "RotateLeft(90)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(1.0)",
+      "MoveAhead(0.5)",
+      "MoveLeft(0.25)",
+      "RotateLeft(90)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(1.0)",
+      "Done"
+    ]
+  },
+  "scene_index": 221,
+  "target_object_types": [
+    "KeyChain",
+    "Sofa"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "KeyChain",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "LivingRoom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Sofa",
+      "distance": 1.5
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I'm going out. Please take a keychain and wait for me by the sofa.",
+  "max_steps": 138,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/test/procthor00001/task.json b/procthor/tasks/test/procthor00001/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c909f0a8016212525f520be0aeb18825f0488de
--- /dev/null
+++ b/procthor/tasks/test/procthor00001/task.json
@@ -0,0 +1,67 @@
+{
+  "task_id": "procthor00002",
+  "task_name": "Store potato",
+  "instruction": "I've just entered the kitchen. Please turn on the kitchen light and put the potato I'm holding into the refrigerator. Remember to close the refrigerator door afterwards.",
+  "golden_actions": {
+    "steps": 38,
+    "actions": [
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "RotateLeft(90)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveLeft(0.25)",
+      "MoveLeft(0.25)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveBack(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveBack(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "PickupObject(TeddyBear)",
+      "Done"
+      ]
+  },
+  "scene": "FloorPlan29",
+  "target_object_types": [
+    "TeddyBear"
+  ],
+  "success_conditions": [
+ 
+    {
+      "type": "object_state",
+      "object_type": "TeddyBear",
+      "state": "isPickedUp",
+      "value": false
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I've just entered the kitchen. Please turn on the kitchen light and put the potato I'm holding into the refrigerator. Remember to close the refrigerator door afterwards.",
+  "max_steps": 100,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
\ No newline at end of file
diff --git a/procthor/tasks/test/procthor00002/task.json b/procthor/tasks/test/procthor00002/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..675fbb326d0e0c5d68c78ff6094c3c223ce08f23
--- /dev/null
+++ b/procthor/tasks/test/procthor00002/task.json
@@ -0,0 +1,64 @@
+{
+  "task_id": "procthor00002",
+  "task_name": "Store potato",
+  "instruction": "I've just entered the kitchen. Please turn on the kitchen light and put the potato I'm holding into the refrigerator. Remember to close the refrigerator door afterwards.",
+  "golden_actions": {
+    "steps": 22,
+    "actions": [
+      "RotateRight(90)",
+      "RotateRight(90)",
+      "MoveRight(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "MoveAhead(0.25)",
+      "RotateLeft(90)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveRight(0.25)",
+      "MoveBack(0.25)",
+      "MoveBack(0.25)",
+      "RotateLeft(90)",
+      "RotateRight(90)",
+      "PickupObject(TeddyBear)",
+      "Done"
+      ]
+  },
+  "scene_index": 100,
+  "target_object_types": [
+    "TeddyBear"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "TeddyBear",
+      "state": "isPickedUp",
+      "value": true
+    },
+    {
+      "type": "object_in_room",
+      "object_type": "TeddyBear",
+      "room_type": "Bedroom"
+    },
+    {
+      "type": "agent_in_room",
+      "room_type": "Bedroom"
+    },
+    {
+      "type": "agent_near_object",
+      "object_type": "Sofa",
+      "distance": 3.0
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "I've just entered the kitchen. Please turn on the kitchen light and put the potato I'm holding into the refrigerator. Remember to close the refrigerator door afterwards.",
+  "max_steps": 100,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Kitchen/Bedroom)",
+  "Level": "Level3 Hybrid"
+}
diff --git a/procthor/tasks/test/procthor00003/task.json b/procthor/tasks/test/procthor00003/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7251bbc539c64fbd0aadaebdb1615637c0fc7ec
--- /dev/null
+++ b/procthor/tasks/test/procthor00003/task.json
@@ -0,0 +1,22 @@
+{
+  "task_id": "procthor00003",
+  "task_name": "Move TeddyBear from Bedroom to Bathroom",
+  "instruction": "Move the TeddyBear from the bed in the bedroom to the bathroom.",
+  "scene_index": 100,
+  "target_object_types": [
+    "TeddyBear"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_in_room",
+      "object_type": "TeddyBear",
+      "room_type": "Bathroom"
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "Move the TeddyBear from the bed in the bedroom to the bathroom.",
+  "max_steps": 100,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Bedroom/Bathroom)",
+  "Level": "Level2 Navigation"
+}
diff --git a/procthor/tasks/test/procthor00004/task.json b/procthor/tasks/test/procthor00004/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..67ee9b993e213395b756d582312bc0b819fe78cd
--- /dev/null
+++ b/procthor/tasks/test/procthor00004/task.json
@@ -0,0 +1,22 @@
+{
+  "task_id": "procthor00004",
+  "task_name": "Move to bed",
+  "instruction": "Move the agent to near the bed in the bedroom.",
+  "scene_index": 100,
+  "target_object_types": [
+    "Bed"
+  ],
+  "success_conditions": [
+    {
+      "type": "agent_near_object",
+      "object_type": "Bed",
+      "distance": 1.0
+    }
+  ],
+  "success_logic": "AND",
+  "target_description": "Move the agent to near the bed in the bedroom (within 1 meter).",
+  "max_steps": 100,
+  "Evaluation_Type": "Conditional",
+  "Category": "Daily Household (Navigation)",
+  "Level": "Level1 Navigation"
+}
diff --git a/shared/dual_agent/tasks/dual_ai2thor_test/init.json b/shared/dual_agent/tasks/dual_ai2thor_test/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..27335c91d64f4806c1c57563308fce764241d2f3
--- /dev/null
+++ b/shared/dual_agent/tasks/dual_ai2thor_test/init.json
@@ -0,0 +1,8 @@
+{
+  "actions": [
+    "RotateRight",
+    "MoveAhead",
+    "RotateLeft"
+  ],
+  "scene": "FloorPlan1"
+}
diff --git a/shared/dual_agent/tasks/dual_ai2thor_test/task.json b/shared/dual_agent/tasks/dual_ai2thor_test/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..42b70068928c5f2c89970d7176b345c65ca8c085
--- /dev/null
+++ b/shared/dual_agent/tasks/dual_ai2thor_test/task.json
@@ -0,0 +1,32 @@
+{
+  "task_id": "dual_ai2thor_test",
+  "task_name": "Collaborative Cooking",
+  "instruction": "This is a collaborative task for two equal agents. Agent 1 and Agent 2 need to work together: find the Tomato and share its location, find the Knife, go to the Tomato and slice it. Then open the Fridge.",
+  "scene": "FloorPlan1",
+  "target_object_types": [
+    "Tomato",
+    "Knife",
+    "Fridge"
+  ],
+  "success_conditions": [
+    {
+      "type": "object_state",
+      "object_type": "Tomato",
+      "state": "isSliced",
+      "value": true
+    },
+    {
+      "type": "object_state",
+      "object_type": "Fridge",
+      "state": "isOpen",
+      "value": true
+    }
+  ],
+  "success_logic": "and",
+  "target_description": "Slice the tomato and open the fridge collaboratively.",
+  "collaboration_config": {
+    "mode": "alternating",
+    "switch_interval": 1,
+    "communication_enabled": true
+  }
+}
diff --git a/virtualhome/tasks/carla00000/init.json b/virtualhome/tasks/carla00000/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..769030b06f574ac0918079e7b1ed5fbce5cc0f35
--- /dev/null
+++ b/virtualhome/tasks/carla00000/init.json
@@ -0,0 +1,13 @@
+{
+  "scene": "Town01",
+  "initial_location": [
+    95.82070922851562,
+    293.73358154296875,
+    1.0570337772369385
+  ],
+  "initial_rotation": [
+    0.0,
+    0.0,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00000/task.json b/virtualhome/tasks/carla00000/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..20994193d83adea43dc392551d6eafd78f5442f6
--- /dev/null
+++ b/virtualhome/tasks/carla00000/task.json
@@ -0,0 +1,54 @@
+{
+  "task_id": "carla00000",
+  "task_name": "Walk to the city lamp",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "walker",
+  "instruction": "Walk forward to reach the city lamp.",
+  "golden_actions": {
+    "steps": 11,
+    "actions": [
+"TurnRight",
+"TurnRight",
+"TurnRight",
+"TurnRight",
+"TurnRight",
+"TurnRight",
+"TurnRight",
+"TurnRight",
+"WalkForward(distance=10)",
+"WalkForward(distance=3)",
+"Done"
+    ]
+  },
+  "scene": "Town01",
+  "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon": [
+  [
+    85.67361450195312,
+    279.7303771972656,
+    0.10087871551513672
+  ],
+  [
+    89.50704956054688,
+    279.7303771972656,
+    0.10087871551513672
+  ],
+  [
+    89.50704956054688,
+    280.1695861816406,
+    0.10087871551513672
+  ],
+  [
+    85.67361450195312,
+    280.1695861816406,
+    0.10087871551513672
+  ]
+],
+      "threshold_label": "loose"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00200/init.json b/virtualhome/tasks/carla00200/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9d52850cbc1b9578f590f4bf15af93df3e9a6b6
--- /dev/null
+++ b/virtualhome/tasks/carla00200/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town01",
+  "weather": "ClearNoon",
+  "initial_location": [
+    333.0654602050781,
+    169.33163452148438,
+    0.9514999389648438
+  ],
+  "initial_rotation": [
+    0.0,
+    89.9999771118164,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00200/task.json b/virtualhome/tasks/carla00200/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..284d4e86d56ac434f0c2c75ae23d47f95afe1d00
--- /dev/null
+++ b/virtualhome/tasks/carla00200/task.json
@@ -0,0 +1,53 @@
+{
+  "task_id": "carla00200",
+  "task_name": "Walk to the position of the large tree ahead on the right",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "walker",
+  "instruction": "Walk to the position of the large tree ahead on the right. You can turn and move in any direction.",
+  "golden_actions": {
+    "steps": 10,
+    "actions": [
+      "WalkForward(distance=10)",
+      "WalkForward(distance=10)",
+      "TurnRight",
+      "TurnRight",
+      "WalkForward(distance=10)",
+      "WalkForward(distance=10)",
+      "TurnLeft",
+      "TurnLeft",
+      "TurnLeft",
+      "Done"
+    ]
+  },
+  "scene": "Town01",
+  "weather": "ClearSunset",
+  "success_conditions": {
+    "type": "polygon_area",
+    "target_polygon": [
+      [
+        314.7931823730469,
+        200.14219665527344,
+        0.10664081573486328
+      ],
+      [
+        320.5555725097656,
+        200.14219665527344,
+        0.10664081573486328
+      ],
+      [
+        320.5555725097656,
+        205.9274444580078,
+        0.10664081573486328
+      ],
+      [
+        314.7931823730469,
+        205.9274444580078,
+        0.10664081573486328
+      ]
+    ],
+    "threshold_label": "loose"
+  },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00201/init.json b/virtualhome/tasks/carla00201/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..419ac6601d511c0ed3354e30f7b83535b13322e2
--- /dev/null
+++ b/virtualhome/tasks/carla00201/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town02",
+  "weather": "ClearNoon",
+  "initial_location": [
+    -4.457595348358154,
+    184.66905212402344,
+    1.1714999675750732
+  ],
+  "initial_rotation": [
+    0.0,
+    89.99995422363281,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00201/task.json b/virtualhome/tasks/carla00201/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac496973f7b1137fb0ff62ea2089731a7830a210
--- /dev/null
+++ b/virtualhome/tasks/carla00201/task.json
@@ -0,0 +1,35 @@
+{
+  "task_id": "carla00201",
+  "task_name": "Walk to the newsstand.",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "walker",
+  "instruction": "Walk to the newsstand next to the bus stop. You can turn and move in any direction.",
+  "golden_actions": {
+    "steps": 8,
+    "actions": [
+      "WalkForward(distance=10)",
+      "WalkForward(distance=10)",
+      "WalkForward(distance=10)",
+      "TurnRight",
+      "TurnRight",
+      "WalkForward(distance=10)",
+      "WalkForward(distance=3)",
+      "Done"
+    ]
+  },
+  "scene": "Town02",
+  "weather": "ClearSunset",
+  "success_conditions": {
+    "type": "polygon_area",
+    "target_polygon": [
+      [-20.986454606966458, 222.23289286430287, 0.25],
+      [-16.54665184020996, 221.4500274658203, 0.25],
+      [-16.019133924527683, 224.44169820015026, 0.25],
+      [-20.45893669128418, 225.2245635986328, 0.25]
+    ],
+    "threshold_label": "loose"
+  },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00202/init.json b/virtualhome/tasks/carla00202/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a9e4990e7f83cd8f5a0d48c4843ca9fb4bec026
--- /dev/null
+++ b/virtualhome/tasks/carla00202/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town03",
+  "weather": "ClearNoon",
+  "initial_location": [
+    17.277965545654297,
+    192.05686950683594,
+    0.9536787867546082
+  ],
+  "initial_rotation": [
+    0.0,
+    179.9999542236328,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00202/task.json b/virtualhome/tasks/carla00202/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..0161a5407bd9cebea37debe7548fc25a8c3d359d
--- /dev/null
+++ b/virtualhome/tasks/carla00202/task.json
@@ -0,0 +1,49 @@
+{
+  "task_id": "carla00202",
+  "task_name": "Walk to the streetlight in front of the gas station.",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "walker",
+  "instruction": "Walk to the streetlight in front of the gas station. You can turn and move in any direction.",
+  "golden_actions": {
+    "steps": 6,
+    "actions":[
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"TurnRight",
+"WalkForward(distance=10)",
+"Done"
+]
+  },
+  "scene": "Town03",
+  "weather": "ClearSunset",
+  "success_conditions": {
+    "type": "polygon_area",
+    "target_polygon":[
+  [
+    -27.394559860229492,
+    183.10986328125,
+    0.08995580673217773
+  ],
+  [
+    -25.02674674987793,
+    183.10986328125,
+    0.08995580673217773
+  ],
+  [
+    -25.02674674987793,
+    185.47769165039062,
+    0.08995580673217773
+  ],
+  [
+    -27.394559860229492,
+    185.47769165039062,
+    0.08995580673217773
+  ]
+],
+    "threshold_label": "loose"
+  },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00203/init.json b/virtualhome/tasks/carla00203/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..6daf3f40ed697e1e563c3ef80549f6866f94e8db
--- /dev/null
+++ b/virtualhome/tasks/carla00203/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town04",
+  "weather": "ClearNoon",
+  "initial_location": [
+    248.58949279785156,
+    -307.2780456542969,
+    0.9558485150337219
+  ],
+  "initial_rotation": [
+    0.0,
+    0.0,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00203/task.json b/virtualhome/tasks/carla00203/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..9daadd7675b4066fa6a4c5bf3fcc8a91a15a82ab
--- /dev/null
+++ b/virtualhome/tasks/carla00203/task.json
@@ -0,0 +1,56 @@
+{
+  "task_id": "carla00203",
+  "task_name": "Walk to the church.",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "walker",
+  "instruction": "Walk to the church. You can turn and move in any direction.",
+  "golden_actions": {
+    "steps": 13,
+    "actions":[
+"WalkForward(distance=10)",
+"TurnRight",
+"TurnRight",
+"TurnRight",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"TurnLeft",
+"TurnLeft",
+"TurnLeft",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"Done"
+]
+  },
+  "scene": "Town04",
+  "weather": "ClearSunset",
+  "success_conditions": {
+    "type": "polygon_area",
+    "target_polygon":[
+  [
+    290.882568359375,
+    -294.34478759765625,
+    0.16048622131347656
+  ],
+  [
+    299.8791494835678,
+    -285.34819449378307,
+    0.16048622131347656
+  ],
+  [
+    292.24493408203125,
+    -277.7139892578125,
+    0.16048622131347656
+  ],
+  [
+    283.24835295783845,
+    -286.7105823616857,
+    0.16048622131347656
+  ]
+],
+    "threshold_label": "loose"
+  },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00204/init.json b/virtualhome/tasks/carla00204/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..c00faeae1d56b2a862f68e92da26f5a84369e1e3
--- /dev/null
+++ b/virtualhome/tasks/carla00204/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town05",
+  "weather": "ClearNoon",
+  "initial_location": [
+    -47.83250427246094,
+    -64.31966400146484,
+    1.0056827068328857
+  ],
+  "initial_rotation": [
+    0.0,
+    90.00000762939453,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00204/task.json b/virtualhome/tasks/carla00204/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..62f74c2355e85c23931b1e916da2529e3e6e8fa0
--- /dev/null
+++ b/virtualhome/tasks/carla00204/task.json
@@ -0,0 +1,52 @@
+{
+  "task_id": "carla00204",
+  "task_name": "Walk to the shop.",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "walker",
+  "instruction": "Walk to the yellow shop next to the trash can. You can turn and move in any direction.",
+  "golden_actions": {
+    "steps": 9,
+    "actions":[
+"WalkForward(distance=10)",
+"TurnLeft",
+"TurnLeft",
+"WalkForward(distance=3)",
+"TurnLeft",
+"WalkForward(distance=10)",
+"WalkForward(distance=3)",
+"WalkForward(distance=3)",
+"Done"
+]
+  },
+  "scene": "Town05",
+  "weather": "ClearSunset",
+  "success_conditions": {
+    "type": "polygon_area",
+    "target_polygon":[
+  [
+    -24.750477574908015,
+    -53.3148947804762,
+    0.1662222146987915
+  ],
+  [
+    -27.939945220947266,
+    -53.31489562988281,
+    0.1662222146987915
+  ],
+  [
+    -27.939944483197454,
+    -56.08509911600817,
+    0.1662222146987915
+  ],
+  [
+    -24.750476837158203,
+    -56.08509826660156,
+    0.1662222146987915
+  ]
+],
+    "threshold_label": "loose"
+  },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00205/init.json b/virtualhome/tasks/carla00205/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..426bcc8de308989cf8440bb47d51c5be196e9edb
--- /dev/null
+++ b/virtualhome/tasks/carla00205/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town01",
+  "weather": "ClearNoon",
+  "initial_location": [
+    184.5449981689453,
+    195.7963409423828,
+    0.9514999389648438
+  ],
+  "initial_rotation": [
+    0.0,
+    179.99981689453125,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00205/task.json b/virtualhome/tasks/carla00205/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1a8d704505a754c46891673aacdd0c2f9d6019b
--- /dev/null
+++ b/virtualhome/tasks/carla00205/task.json
@@ -0,0 +1,31 @@
+{
+  "task_id": "carla00205",
+  "task_name": "Walk to the target point.",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "walker",
+  "instruction": "Walk to the position marked by the red line in the screenshot.You can turn and move in any direction.",
+  "golden_actions": {
+    "steps": 9,
+    "actions": [
+"TurnLeft",
+"TurnLeft",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"TurnLeft",
+"WalkForward(distance=3)",
+"WalkForward(distance=3)",
+"Done"
+]
+  },
+  "scene": "Town01",
+  "weather": "ClearSunset",
+  "success_conditions": {
+      "type": "distance_to_waypoint",
+      "target_location": [168.8, 229.7, 1.1],
+      "threshold_label": "medium"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00206/init.json b/virtualhome/tasks/carla00206/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..02c2d625f1383db0fd974dcbfe8108f3787d0f90
--- /dev/null
+++ b/virtualhome/tasks/carla00206/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town02",
+  "weather": "ClearNoon",
+  "initial_location": [
+    46.67457962036133,
+    200.4311065673828,
+    1.1714997291564941
+  ],
+  "initial_rotation": [
+    0.0,
+    89.99995422363281,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00206/task.json b/virtualhome/tasks/carla00206/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..504bd3fea6f1eafd6ca32988be77626bbfe23e66
--- /dev/null
+++ b/virtualhome/tasks/carla00206/task.json
@@ -0,0 +1,29 @@
+{
+  "task_id": "carla00206",
+  "task_name": "Walk to the target point.",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "walker",
+  "instruction": "Walk to the position marked by the red line in the screenshot.You can turn and move in any direction.",
+  "golden_actions": {
+    "steps": 7,
+    "actions": [
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"TurnLeft",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"Done"
+]
+  },
+  "scene": "Town02",
+  "weather": "ClearSunset",
+  "success_conditions": {
+      "type": "distance_to_waypoint",
+      "target_location": [57.2, 250.2, 1.3],
+      "threshold_label": "medium"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00207/init.json b/virtualhome/tasks/carla00207/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe66414e8eb201a54cc6516848eb6b029db0cd35
--- /dev/null
+++ b/virtualhome/tasks/carla00207/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town03",
+  "weather": "ClearNoon",
+  "initial_location": [
+    214.11492919921875,
+    58.26851272583008,
+    0.9505991339683533
+  ],
+  "initial_rotation": [
+    0.0,
+    -149.9999542236328,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00207/task.json b/virtualhome/tasks/carla00207/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddfc4d59b316434825c34fc5c60d3d21e1549460
--- /dev/null
+++ b/virtualhome/tasks/carla00207/task.json
@@ -0,0 +1,37 @@
+{
+  "task_id": "carla00207",
+  "task_name": "Walk to the target point.",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "walker",
+  "instruction": "Walk to the position marked by the red line in the screenshot.You can turn and move in any direction.",
+  "golden_actions": {
+    "steps": 15,
+    "actions":[
+"TurnLeft",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"TurnLeft",
+"WalkForward(distance=10)",
+"TurnLeft",
+"WalkForward(distance=10)",
+"TurnLeft",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"TurnRight",
+"WalkForward(distance=10)",
+"Done"
+]
+  },
+  "scene": "Town03",
+  "weather": "ClearSunset",
+  "success_conditions": {
+      "type": "distance_to_waypoint",
+      "target_location": [163.0, 113.2, 1.3],
+      "threshold_label": "medium"
+    },
+  "max_steps": 50
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00208/init.json b/virtualhome/tasks/carla00208/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..effaf46750510f9a64d43f1ff57e99536e0b1679
--- /dev/null
+++ b/virtualhome/tasks/carla00208/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town04",
+  "weather": "ClearNoon",
+  "initial_location": [
+    10.985811233520508,
+    -87.98873138427734,
+    0.9536181688308716
+  ],
+  "initial_rotation": [
+    0.0,
+    89.99995422363281,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00208/task.json b/virtualhome/tasks/carla00208/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..d415fd92a0f05838b526285586d0af11d9cee10b
--- /dev/null
+++ b/virtualhome/tasks/carla00208/task.json
@@ -0,0 +1,32 @@
+{
+  "task_id": "carla00208",
+  "task_name": "Walk to the target point.",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "walker",
+  "instruction": "Walk to the position marked by the red line in the screenshot.You can turn and move in any direction.",
+  "golden_actions": {
+    "steps": 10,
+    "actions":[
+"TurnLeft",
+"WalkForward(distance=10)",
+"TurnLeft",
+"TurnLeft",
+"WalkForward(distance=10)",
+"TurnLeft",
+"TurnLeft",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"Done"
+]
+  },
+  "scene": "Town04",
+  "weather": "ClearSunset",
+  "success_conditions": {
+      "type": "distance_to_waypoint",
+      "target_location": [37.3, -97.1, 1.0],
+      "threshold_label": "medium"
+    },
+  "max_steps": 50
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00209/init.json b/virtualhome/tasks/carla00209/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..affa65def43ee376279665e42b74668f2b429413
--- /dev/null
+++ b/virtualhome/tasks/carla00209/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town05",
+  "weather": "ClearNoon",
+  "initial_location": [
+    91.41905975341797,
+    -64.31963348388672,
+    0.9518833160400391
+  ],
+  "initial_rotation": [
+    0.0,
+    -179.99989318847656,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00209/task.json b/virtualhome/tasks/carla00209/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..6740797181eea2bcaff7fc227dc5c41246d530cc
--- /dev/null
+++ b/virtualhome/tasks/carla00209/task.json
@@ -0,0 +1,37 @@
+{
+  "task_id": "carla00209",
+  "task_name": "Walk to the target point.",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "walker",
+  "instruction": "Walk to the position marked by the red line in the screenshot.You can turn and move in any direction.",
+  "golden_actions": {
+    "steps": 15,
+    "actions":[
+"TurnLeft",
+"TurnLeft",
+"WalkForward(distance=10)",
+"TurnLeft",
+"WalkForward(distance=10)",
+"WalkForward(distance=3)",
+"WalkForward(distance=3)",
+"TurnRight",
+"TurnRight",
+"TurnRight",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"WalkForward(distance=3)",
+"WalkForward(distance=3)",
+"Done"
+]
+  },
+  "scene": "Town05",
+  "weather": "ClearSunset",
+  "success_conditions": {
+      "type": "distance_to_waypoint",
+      "target_location": [58.5, -38.1, 1.1],
+      "threshold_label": "medium"
+    },
+  "max_steps": 50
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00210/init.json b/virtualhome/tasks/carla00210/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f4840b3cd6c34594997ca2e935e7265f071565b
--- /dev/null
+++ b/virtualhome/tasks/carla00210/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town01",
+  "weather": "ClearNoon",
+  "initial_location": [
+    100.08084869384766,
+    195.7963409423828,
+    0.9514999389648438
+  ],
+  "initial_rotation": [
+    0.0,
+    179.9999542236328,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00210/task.json b/virtualhome/tasks/carla00210/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b47aa955d5ac92d51e11d3f3d26cc605ad333d5
--- /dev/null
+++ b/virtualhome/tasks/carla00210/task.json
@@ -0,0 +1,52 @@
+{
+  "task_id": "carla00210",
+  "task_name": "Walk to the house with the yellow roof.",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "walker",
+  "instruction": "Walk to the house with the yellow roof.You can turn and move in any direction.",
+  "golden_actions": {
+    "steps": 9,
+    "actions":[
+"TurnLeft",
+"WalkForward(distance=10)",
+"TurnLeft",
+"TurnLeft",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"TurnLeft",
+"WalkForward(distance=10)",
+"Done"
+]
+  },
+  "scene": "Town01",
+  "weather": "ClearSunset",
+  "success_conditions": {
+    "type": "polygon_area",
+    "target_polygon": [
+  [
+    107.01632058854588,
+    222.82734680175798,
+    -0.06000018119812012
+  ],
+  [
+    107.01631927490219,
+    232.69264340310121,
+    -0.06000018119812012
+  ],
+  [
+    98.07065450911037,
+    232.6926422119139,
+    -0.06000018119812012
+  ],
+  [
+    98.07065582275406,
+    222.82734561057066,
+    -0.06000018119812012
+  ]
+],
+    "threshold_label": "loose"
+  },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00211/init.json b/virtualhome/tasks/carla00211/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..565ca37d5d7ef88d3d925fbdf4d8ec3746379f38
--- /dev/null
+++ b/virtualhome/tasks/carla00211/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town02",
+  "weather": "ClearNoon",
+  "initial_location": [
+    134.7017059326172,
+    230.51388549804688,
+    1.1714997291564941
+  ],
+  "initial_rotation": [
+    0.0,
+    89.99993133544922,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00211/task.json b/virtualhome/tasks/carla00211/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3eb7670a4837acca73b6e7359759763627bfbb4
--- /dev/null
+++ b/virtualhome/tasks/carla00211/task.json
@@ -0,0 +1,54 @@
+{
+  "task_id": "carla00211",
+  "task_name": "Walk to the ResidentialBuildingRoundCorners.",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "walker",
+  "instruction": "Walk to the ResidentialBuildingRoundCorners.You can turn and move in any direction.",
+  "golden_actions": {
+    "steps": 11,
+    "actions":[
+"TurnLeft",
+"TurnLeft",
+"WalkForward(distance=10)",
+"TurnLeft",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"TurnRight",
+"TurnRight",
+"WalkForward(distance=10)",
+"Done"
+]
+  },
+  "scene": "Town02",
+  "weather": "ClearSunset",
+  "success_conditions": {
+    "type": "polygon_area",
+    "target_polygon":[
+  [
+    178.6798858642578,
+    245.93678283691406,
+    0.16008758544921875
+  ],
+  [
+    186.34010314941406,
+    245.93678283691406,
+    0.16008758544921875
+  ],
+  [
+    186.34010314941406,
+    255.78321838378906,
+    0.16008758544921875
+  ],
+  [
+    178.6798858642578,
+    255.78321838378906,
+    0.16008758544921875
+  ]
+],
+    "threshold_label": "loose"
+  },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00212/init.json b/virtualhome/tasks/carla00212/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ecea5e45cbd0fb8814cf3933a73b481cbe40faa
--- /dev/null
+++ b/virtualhome/tasks/carla00212/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town03",
+  "weather": "ClearNoon",
+  "initial_location": [
+    -18.542219161987305,
+    55.80015563964844,
+    1.1283022165298462
+  ],
+  "initial_rotation": [
+    0.0,
+    5.531309943762608e-05,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00212/task.json b/virtualhome/tasks/carla00212/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..625e7d5764725a125de90c29ba06c7d068cf22b6
--- /dev/null
+++ b/virtualhome/tasks/carla00212/task.json
@@ -0,0 +1,57 @@
+{
+  "task_id": "carla00212",
+  "task_name": "Walk to the HighwayLight_multiple.",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "walker",
+  "instruction": "Walk to the HighwayLight_multiple.You can turn and move in any direction.",
+  "golden_actions": {
+    "steps": 14,
+    "actions":[
+"TurnLeft",
+"TurnLeft",
+"TurnLeft",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"TurnLeft",
+"TurnLeft",
+"WalkForward(distance=3)",
+"WalkForward(distance=3)",
+"WalkForward(distance=3)",
+"Done"
+]
+  },
+  "scene": "Town03",
+  "weather": "ClearSunset",
+  "success_conditions": {
+    "type": "polygon_area",
+    "target_polygon":[
+  [
+    -29.655776977539062,
+    -2.724567174911499,
+    0.0899667739868164
+  ],
+  [
+    -27.2879638671875,
+    -2.724567174911499,
+    0.0899667739868164
+  ],
+  [
+    -27.2879638671875,
+    -0.3567523956298828,
+    0.0899667739868164
+  ],
+  [
+    -29.655776977539062,
+    -0.3567523956298828,
+    0.0899667739868164
+  ]
+],
+    "threshold_label": "loose"
+  },
+  "max_steps": 50
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00213/init.json b/virtualhome/tasks/carla00213/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d31b51931402ec139281ff7da91c7eb3e120028
--- /dev/null
+++ b/virtualhome/tasks/carla00213/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town04",
+  "weather": "ClearNoon",
+  "initial_location": [
+    195.37625122070312,
+    -308.2862548828125,
+    0.981044590473175
+  ],
+  "initial_rotation": [
+    0.0,
+    -30.00021743774414,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00213/task.json b/virtualhome/tasks/carla00213/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..76fb9782630d188728077b827a8dce7b9646aceb
--- /dev/null
+++ b/virtualhome/tasks/carla00213/task.json
@@ -0,0 +1,56 @@
+{
+  "task_id": "carla00213",
+  "task_name": "Walk to under the billboard.",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "walker",
+  "instruction": "Walk to under the billboard.You can turn and move in any direction.",
+  "golden_actions": {
+    "steps": 13,
+    "actions":[
+"WalkForward(distance=10)",
+"TurnLeft",
+"TurnLeft",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"TurnLeft",
+"WalkForward(distance=10)",
+"WalkForward(distance=3)",
+"WalkForward(distance=3)",
+"TurnRight",
+"WalkForward(distance=3)",
+"WalkForward(distance=3)",
+"Done"
+]
+  },
+  "scene": "Town04",
+  "weather": "ClearSunset",
+  "success_conditions": {
+    "type": "polygon_area",
+    "target_polygon":[
+  [
+    190.18319702148438,
+    -365.9443664550781,
+    0.04092884063720703
+  ],
+  [
+    194.16801476313577,
+    -366.2929994836737,
+    0.04092884063720703
+  ],
+  [
+    195.00576782226562,
+    -356.7176208496094,
+    0.04092884063720703
+  ],
+  [
+    191.02095008061423,
+    -356.3689878210138,
+    0.04092884063720703
+  ]
+],
+    "threshold_label": "loose"
+  },
+  "max_steps": 50
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00214/init.json b/virtualhome/tasks/carla00214/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..b61c3331bceda919b5237820941e9d10af31297f
--- /dev/null
+++ b/virtualhome/tasks/carla00214/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town05",
+  "weather": "ClearNoon",
+  "initial_location": [
+    -67.5927963256836,
+    102.38863372802734,
+    1.1052496433258057
+  ],
+  "initial_rotation": [
+    0.0,
+    -90.00005340576172,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00214/task.json b/virtualhome/tasks/carla00214/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..45611b3e62adb6f90d3319cf49f77c97f2684643
--- /dev/null
+++ b/virtualhome/tasks/carla00214/task.json
@@ -0,0 +1,55 @@
+{
+  "task_id": "carla00214",
+  "task_name": "Walk to the streetlight near the stone.",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "walker",
+  "instruction": "Walk to the streetlight near the stone.You can turn and move in any direction.",
+  "golden_actions": {
+    "steps": 12,
+    "actions":[
+"TurnRight",
+"TurnRight",
+"WalkForward(distance=10)",
+"TurnRight",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"TurnRight",
+"TurnRight",
+"TurnRight",
+"Done"
+]
+  },
+  "scene": "Town05",
+  "weather": "ClearSunset",
+  "success_conditions": {
+    "type": "polygon_area",
+    "target_polygon":[
+  [
+    -16.921325683592,
+    100.81001369464602,
+    0.10883235931396484
+  ],
+  [
+    -16.92133334038507,
+    96.97657775878912,
+    0.10883235931396484
+  ],
+  [
+    -16.482124328615033,
+    96.97657688152586,
+    0.10883235931396484
+  ],
+  [
+    -16.482116671821963,
+    100.81001281738276,
+    0.10883235931396484
+  ]
+],
+    "threshold_label": "loose"
+  },
+  "max_steps": 50
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00215/init.json b/virtualhome/tasks/carla00215/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..a88c5a711a2898e6ee7908bf27423ffc64b77f5f
--- /dev/null
+++ b/virtualhome/tasks/carla00215/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town01",
+  "weather": "ClearNoon",
+  "initial_location": [
+    90.2055435180664,
+    6.651930332183838,
+    0.9514999985694885
+  ],
+  "initial_rotation": [
+    0.0,
+    90.00005340576172,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00215/task.json b/virtualhome/tasks/carla00215/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..89faf34727ec5d0efd89b3c07b891ca9cc339627
--- /dev/null
+++ b/virtualhome/tasks/carla00215/task.json
@@ -0,0 +1,32 @@
+{
+  "task_id": "carla00215",
+  "task_name": "Walk to the target point.",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "walker",
+  "instruction": "Walk to the position marked by the red line in the screenshot.You can turn and move in any direction.",
+  "golden_actions": {
+    "steps": 10,
+    "actions":[
+"WalkForward(distance=10)",
+"TurnRight",
+"TurnRight",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"TurnRight",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"Done"
+]
+  },
+  "scene": "Town01",
+  "weather": "ClearSunset",
+  "success_conditions": {
+      "type": "distance_to_waypoint",
+      "target_location": [41.9, 32.9, 1.2],
+      "threshold_label": "medium"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00216/init.json b/virtualhome/tasks/carla00216/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d670de9656e23da546cfb16376632568601ff63
--- /dev/null
+++ b/virtualhome/tasks/carla00216/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town02",
+  "weather": "ClearNoon",
+  "initial_location": [
+    135.992919921875,
+    212.34725952148438,
+    1.1714999675750732
+  ],
+  "initial_rotation": [
+    0.0,
+    89.9999771118164,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00216/task.json b/virtualhome/tasks/carla00216/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..c33b97ff6067d45ebec17e07dcecd512b8779bfb
--- /dev/null
+++ b/virtualhome/tasks/carla00216/task.json
@@ -0,0 +1,33 @@
+{
+  "task_id": "carla00216",
+  "task_name": "Walk to the target point.",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "walker",
+  "instruction": "Walk to the position marked by the red line in the screenshot.You can turn and move in any direction.",
+  "golden_actions": {
+    "steps": 11,
+    "actions":[
+"TurnLeft",
+"WalkForward(distance=10)",
+"TurnLeft",
+"TurnLeft",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"TurnLeft",
+"TurnLeft",
+"TurnLeft",
+"WalkForward(distance=10)",
+"Done"
+]
+  },
+  "scene": "Town02",
+  "weather": "ClearSunset",
+  "success_conditions": {
+      "type": "distance_to_waypoint",
+      "target_location": [162.3, 210.9, 1.3],
+      "threshold_label": "medium"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00217/init.json b/virtualhome/tasks/carla00217/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7e031001e17e36b99535fe01837945d1fb7dc4c
--- /dev/null
+++ b/virtualhome/tasks/carla00217/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town03",
+  "weather": "ClearNoon",
+  "initial_location": [
+    148.18247985839844,
+    -4.389764785766602,
+    0.9611140489578247
+  ],
+  "initial_rotation": [
+    0.0,
+    -89.99993896484375,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00217/task.json b/virtualhome/tasks/carla00217/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..97b5858a88d9b5c679020f0e6ad13994ac78309a
--- /dev/null
+++ b/virtualhome/tasks/carla00217/task.json
@@ -0,0 +1,40 @@
+{
+  "task_id": "carla00217",
+  "task_name": "Walk to the target point.",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "walker",
+  "instruction": "Walk to the position marked by the red line in the screenshot.You can turn and move in any direction.",
+  "golden_actions": {
+    "steps": 18,
+    "actions":[
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"TurnLeft",
+"TurnLeft",
+"TurnLeft",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"TurnRight",
+"TurnRight",
+"TurnRight",
+"WalkForward(distance=10)",
+"Done"
+]
+  },
+  "scene": "Town03",
+  "weather": "ClearSunset",
+  "success_conditions": {
+      "type": "distance_to_waypoint",
+      "target_location": [116.7, -88.5, 9.1],
+      "threshold_label": "medium"
+    },
+  "max_steps": 50
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00218/init.json b/virtualhome/tasks/carla00218/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2ac63bbd676a5db05e51849a34fa5dbec310071
--- /dev/null
+++ b/virtualhome/tasks/carla00218/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town04",
+  "weather": "ClearNoon",
+  "initial_location": [
+    201.47763061523438,
+    -164.565673828125,
+    0.9710922837257385
+  ],
+  "initial_rotation": [
+    0.0,
+    89.9999771118164,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00218/task.json b/virtualhome/tasks/carla00218/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..44b8fd435a82548e8281e42a5df0902ed1a558db
--- /dev/null
+++ b/virtualhome/tasks/carla00218/task.json
@@ -0,0 +1,32 @@
+{
+  "task_id": "carla00218",
+  "task_name": "Walk to the target point.",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "walker",
+  "instruction": "Walk to the position marked by the red line in the screenshot.You can turn and move in any direction.",
+  "golden_actions": {
+    "steps": 10,
+    "actions":[
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"TurnLeft",
+"WalkForward(distance=10)",
+"TurnLeft",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"TurnLeft",
+"WalkForward(distance=10)",
+"Done"
+]
+  },
+  "scene": "Town04",
+  "weather": "ClearSunset",
+  "success_conditions": {
+      "type": "distance_to_waypoint",
+      "target_location": [235.4, -123.9, 1.0],
+      "threshold_label": "medium"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00219/init.json b/virtualhome/tasks/carla00219/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..f24394af6f22d1c044231dd5c7f48d5b210fe73e
--- /dev/null
+++ b/virtualhome/tasks/carla00219/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town05",
+  "weather": "ClearNoon",
+  "initial_location": [
+    151.5585479736328,
+    16.960250854492188,
+    0.9901046752929688
+  ],
+  "initial_rotation": [
+    0.0,
+    -179.99996948242188,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00219/task.json b/virtualhome/tasks/carla00219/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..76f5ccaae6f7614b5324f4bb1ab6c7313318da1c
--- /dev/null
+++ b/virtualhome/tasks/carla00219/task.json
@@ -0,0 +1,34 @@
+{
+  "task_id": "carla00219",
+  "task_name": "Walk to the target point.",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "walker",
+  "instruction": "Walk to the position marked by the red line in the screenshot.You can turn and move in any direction.",
+  "golden_actions": {
+    "steps": 12,
+    "actions":[
+"TurnLeft",
+"TurnLeft",
+"TurnLeft",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"TurnRight",
+"TurnRight",
+"WalkForward(distance=10)",
+"TurnRight",
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"Done"
+]
+  },
+  "scene": "Town05",
+  "weather": "ClearSunset",
+  "success_conditions": {
+      "type": "distance_to_waypoint",
+      "target_location": [121.5, 43.2, 1.1],
+      "threshold_label": "medium"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00300/init.json b/virtualhome/tasks/carla00300/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..73a5bf0a1c2171f3dc8ebbed528fc53ac0cd4ac9
--- /dev/null
+++ b/virtualhome/tasks/carla00300/init.json
@@ -0,0 +1,13 @@
+{
+  "scene": "Town01",
+  "initial_location": [
+    313.7200012207031,
+    326.6099853515625,
+    0.0014374351594597101
+  ],
+  "initial_rotation": [
+    0.0,
+    -179.99996948242188,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00300/task.json b/virtualhome/tasks/carla00300/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..41d82848f55881b780debd77cef709eecae8d970
--- /dev/null
+++ b/virtualhome/tasks/carla00300/task.json
@@ -0,0 +1,55 @@
+{
+  "task_id": "carla00300",
+  "task_name": "Drive to the lamp",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "vehicle",
+  "instruction": "I’m picking someone up. Please drive to the streetlight by the mailbox.",
+  "golden_actions": {
+    "steps": 13,
+    "actions": ["FollowLane(distance=3)",
+"FollowLane(distance=3)",
+"FollowLane(distance=3)",
+"FollowLane(distance=3)",
+"FollowLane(distance=3)",
+"FollowLane(distance=3)",
+"FollowLane(distance=3)",
+"FollowLane(distance=3)",
+"FollowLane(distance=3)",
+"FollowLane(distance=3)",
+"FollowLane(distance=3)",
+"FollowLane(distance=3)",
+"Done"]
+  },
+  "scene": "Town01",
+  "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon": [
+  [
+    267.28961181640597,
+    323.84060633854784,
+    0.10087871551513672
+  ],
+  [
+    267.2896148791228,
+    327.67404174804443,
+    0.10087871551513672
+  ],
+  [
+    266.85040283203153,
+    327.67404209895216,
+    0.10087871551513672
+  ],
+  [
+    266.8503997693147,
+    323.84060668945557,
+    0.10087871551513672
+  ]
+
+],
+    "threshold_label": "loose"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00301/task.json b/virtualhome/tasks/carla00301/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..d269454a7ab9e74a76385b8ae0c1b4a8e61937e2
--- /dev/null
+++ b/virtualhome/tasks/carla00301/task.json
@@ -0,0 +1,52 @@
+{
+  "task_id": "carla00301",
+  "task_name": "Turn right and drive to the lamp",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "vehicle",
+  "instruction": "Please turn right at the intersection ahead, then drive to the streetlight just before the next intersection.",
+  "golden_actions": {
+    "steps": 9,
+    "actions": [
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"TeleportTurnRight",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"Done"
+]
+  },
+  "scene": "Town03",
+  "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon": [
+  [
+    -64.09093475341797,
+    -1.562528133392334,
+    -0.14984750747680664
+  ],
+  [
+    -64.75300755727868,
+    6.0050450671051685,
+    -0.14984750747680664
+  ],
+  [
+    -65.4372787475586,
+    5.945179462432861,
+    -0.14984750747680664
+  ],
+  [
+    -64.77520594369788,
+    -1.6223937380646412,
+    -0.14984750747680664
+  ]
+],
+    "threshold_label": "loose"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00302/init.json b/virtualhome/tasks/carla00302/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..13e39da65b5716ff168c27ede8fc6c025720e65a
--- /dev/null
+++ b/virtualhome/tasks/carla00302/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town02",
+  "weather": "ClearNoon",
+  "initial_location": [
+    -7.457706928253174,
+    172.1981201171875,
+    0.22161293029785156
+  ],
+  "initial_rotation": [
+    0.0,
+    89.98705291748047,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00302/task.json b/virtualhome/tasks/carla00302/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..35b472cab952b1c838d64e8e479594155715dbc6
--- /dev/null
+++ b/virtualhome/tasks/carla00302/task.json
@@ -0,0 +1,51 @@
+{
+  "task_id": "carla00302",
+  "task_name": "Drive to the limit sign",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "vehicle",
+  "instruction": "Please go straight through the traffic lights ahead and pull up next to the speed limit sign.",
+  "golden_actions": {
+    "steps": 7,
+    "actions": [
+"Stop",
+"Stop",
+"Stop",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"Done"
+]
+  },
+  "scene": "Town02",
+  "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon": [
+  [
+    -9.538933753967285,
+    208.7479705810547,
+    1.8889340162277222
+  ],
+  [
+    -10.221066414227398,
+    208.74797112604344,
+    1.8889340162277222
+  ],
+  [
+    -10.22106647491455,
+    208.67201232910156,
+    1.8889340162277222
+  ],
+  [
+    -9.538933814654438,
+    208.6720117841128,
+    1.8889340162277222
+  ]
+]
+,
+    "threshold_label": "loose"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00303/init.json b/virtualhome/tasks/carla00303/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..13e39da65b5716ff168c27ede8fc6c025720e65a
--- /dev/null
+++ b/virtualhome/tasks/carla00303/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town02",
+  "weather": "ClearNoon",
+  "initial_location": [
+    -7.457706928253174,
+    172.1981201171875,
+    0.22161293029785156
+  ],
+  "initial_rotation": [
+    0.0,
+    89.98705291748047,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00303/task.json b/virtualhome/tasks/carla00303/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5a0f34c1ee06967f5bb51e4989f8bd06ad5132e
--- /dev/null
+++ b/virtualhome/tasks/carla00303/task.json
@@ -0,0 +1,54 @@
+{
+  "task_id": "carla00303",
+  "task_name": "Drive to the traffic light",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "vehicle",
+  "instruction": "Please turn left at the traffic light ahead and go straight until the next traffic light.",
+  "golden_actions": {
+    "steps": 9,
+    "actions": [
+"Stop",
+"Stop",
+"Stop",
+"FollowLane(distance=10)",
+"TeleportTurnLeft",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"Done"
+]
+  },
+  "scene": "Town02",
+  "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon": [
+  [
+    31.01598945272524,
+    194.03395080566426,
+    0.21999990940093994
+  ],
+  [
+    31.01598930358867,
+    194.1459504665192,
+    0.21999990940093994
+  ],
+  [
+    30.903989642733745,
+    194.1459503173826,
+    0.21999990940093994
+  ],
+  [
+    30.903989791870316,
+    194.03395065652768,
+    0.21999990940093994
+  ]
+]
+
+,
+    "threshold_label": "loose"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00304/init.json b/virtualhome/tasks/carla00304/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..73a5bf0a1c2171f3dc8ebbed528fc53ac0cd4ac9
--- /dev/null
+++ b/virtualhome/tasks/carla00304/init.json
@@ -0,0 +1,13 @@
+{
+  "scene": "Town01",
+  "initial_location": [
+    313.7200012207031,
+    326.6099853515625,
+    0.0014374351594597101
+  ],
+  "initial_rotation": [
+    0.0,
+    -179.99996948242188,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00304/task.json b/virtualhome/tasks/carla00304/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1f4099ba062687354fa17c6e4498a87c480df54
--- /dev/null
+++ b/virtualhome/tasks/carla00304/task.json
@@ -0,0 +1,67 @@
+{
+  "task_id": "carla00304",
+  "task_name": "Drive to the traffic light",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "vehicle",
+  "instruction": "Please keep driving straight ahead until the next traffic light.",
+  "golden_actions": {
+    "steps": 21,
+    "actions": [
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"Done"
+]
+  },
+  "scene": "Town01",
+  "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon": [
+  [
+    106.06397937177084,
+    324.3360290527296,
+    0.10324215888977051
+  ],
+  [
+    106.06398010254384,
+    324.22402881024743,
+    0.10324215888977051
+  ],
+  [
+    106.17598034502603,
+    324.2240295410204,
+    0.10324215888977051
+  ],
+  [
+    106.17597961425304,
+    324.33602978350257,
+    0.10324215888977051
+  ]
+]
+
+
+,
+    "threshold_label": "loose"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00305/init.json b/virtualhome/tasks/carla00305/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..55a6868751c6d1d96f5406f2f04b57b231074c50
--- /dev/null
+++ b/virtualhome/tasks/carla00305/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town02",
+  "weather": "ClearNoon",
+  "initial_location": [
+    25.399078369140625,
+    191.5638885498047,
+    0.22161293029785156
+  ],
+  "initial_rotation": [
+    0.0,
+    0.02626265585422516,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00305/task.json b/virtualhome/tasks/carla00305/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..d031d906825a68f153d2df895e264d85ba5ea1d6
--- /dev/null
+++ b/virtualhome/tasks/carla00305/task.json
@@ -0,0 +1,54 @@
+{
+  "task_id": "carla00305",
+  "task_name": "Drive to the streetlight",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "vehicle",
+  "instruction": "Please go straight at the intersection ahead until the next streetlight.",
+  "golden_actions": {
+    "steps": 8,
+    "actions":[
+"Stop",
+"Stop",
+"Stop",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"Done"
+]
+  },
+  "scene": "Town02",
+  "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon": [
+  [
+    66.22218271708631,
+    194.35923767089838,
+    0.3208787441253662
+  ],
+  [
+    66.22218322753908,
+    190.52580255382048,
+    0.3208787441253662
+  ],
+  [
+    66.66139272236681,
+    190.52580261230474,
+    0.3208787441253662
+  ],
+  [
+    66.66139221191405,
+    194.35923772938264,
+    0.3208787441253662
+  ]
+]
+
+
+,
+    "threshold_label": "loose"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00306/init.json b/virtualhome/tasks/carla00306/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..55a6868751c6d1d96f5406f2f04b57b231074c50
--- /dev/null
+++ b/virtualhome/tasks/carla00306/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town02",
+  "weather": "ClearNoon",
+  "initial_location": [
+    25.399078369140625,
+    191.5638885498047,
+    0.22161293029785156
+  ],
+  "initial_rotation": [
+    0.0,
+    0.02626265585422516,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00306/task.json b/virtualhome/tasks/carla00306/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..79bf32cb97a78b92fcf9b4210e8aed6dd8c5a1e4
--- /dev/null
+++ b/virtualhome/tasks/carla00306/task.json
@@ -0,0 +1,55 @@
+{
+  "task_id": "carla00306",
+  "task_name": "Drive to the next traffic light",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "vehicle",
+  "instruction": "Please turn right at the intersection ahead, then go straight to the traffic light at the next intersection.",
+  "golden_actions": {
+    "steps": 9,
+    "actions":[
+"Stop",
+"Stop",
+"Stop",
+"FollowLane(distance=10)",
+"TeleportTurnRight",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"Done"
+]
+  },
+  "scene": "Town02",
+  "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon":[
+  [
+    39.52599737065616,
+    227.18598937988241,
+    0.21999990940093994
+  ],
+  [
+    39.413997650146875,
+    227.18598958867372,
+    0.21999990940093994
+  ],
+  [
+    39.41399744135556,
+    227.07398986816446,
+    0.21999990940093994
+  ],
+  [
+    39.525997161864844,
+    227.07398965937315,
+    0.21999990940093994
+  ]
+]
+
+
+,
+    "threshold_label": "loose"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00307/init.json b/virtualhome/tasks/carla00307/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..a81ad9b4e4fba59359fed3993275790cb735127c
--- /dev/null
+++ b/virtualhome/tasks/carla00307/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town02",
+  "weather": "ClearNoon",
+  "initial_location": [
+    41.8536262512207,
+    231.21017456054688,
+    0.22161288559436798
+  ],
+  "initial_rotation": [
+    0.0,
+    89.99501037597656,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00307/task.json b/virtualhome/tasks/carla00307/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7dc42870f03be27fa1b5ba5a4bb4f89315e9bd8
--- /dev/null
+++ b/virtualhome/tasks/carla00307/task.json
@@ -0,0 +1,52 @@
+{
+  "task_id": "carla00307",
+  "task_name": "Drive to the first street lamp after crossing the intersection",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "vehicle",
+  "instruction": "Please go straight through this intersection, stay in this lane, and stop at the very first streetlight you see along this roadside.",
+  "golden_actions": {
+    "steps": 5,
+    "actions":[
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"Done"
+]
+  },
+  "scene": "Town02",
+  "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon":[
+  [
+    38.812808990478516,
+    275.0972595214844,
+    0.3208887577056885
+  ],
+  [
+    42.646244049072266,
+    275.0972595214844,
+    0.3208887577056885
+  ],
+  [
+    42.646244049072266,
+    275.5364685058594,
+    0.3208887577056885
+  ],
+  [
+    38.812808990478516,
+    275.5364685058594,
+    0.3208887577056885
+  ]
+]
+
+
+
+,
+    "threshold_label": "loose"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00308/init.json b/virtualhome/tasks/carla00308/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..a81ad9b4e4fba59359fed3993275790cb735127c
--- /dev/null
+++ b/virtualhome/tasks/carla00308/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town02",
+  "weather": "ClearNoon",
+  "initial_location": [
+    41.8536262512207,
+    231.21017456054688,
+    0.22161288559436798
+  ],
+  "initial_rotation": [
+    0.0,
+    89.99501037597656,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00308/task.json b/virtualhome/tasks/carla00308/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..803f674a52020bcd1d23b1a7aaf9ce3025d0c271
--- /dev/null
+++ b/virtualhome/tasks/carla00308/task.json
@@ -0,0 +1,52 @@
+{
+  "task_id": "carla00308",
+  "task_name": "Drive to the next traffic light",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "vehicle",
+  "instruction": "Please go straight at this intersection until the next traffic light.",
+  "golden_actions": {
+    "steps": 6,
+    "actions":[
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"Done"
+]
+  },
+  "scene": "Town02",
+  "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon":[
+  [
+    39.385993957514955,
+    289.58599925101083,
+    0.21999990940093994
+  ],
+  [
+    39.2739937299462,
+    289.5859985351517,
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+  ],
+  [
+    39.27399444580536,
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+  ],
+  [
+    39.385994673374114,
+    289.47399902344205,
+    0.21999990940093994
+  ]
+]
+
+
+,
+    "threshold_label": "loose"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00309/init.json b/virtualhome/tasks/carla00309/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d36de5d50c266128ca3ac23081dc9668e720d16
--- /dev/null
+++ b/virtualhome/tasks/carla00309/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town02",
+  "weather": "ClearNoon",
+  "initial_location": [
+    41.85871887207031,
+    289.900146484375,
+    0.22161293029785156
+  ],
+  "initial_rotation": [
+    0.0,
+    89.99501037597656,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00309/task.json b/virtualhome/tasks/carla00309/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..df2a36b7bbc414b820422b5bd2164c22bb8fc0ab
--- /dev/null
+++ b/virtualhome/tasks/carla00309/task.json
@@ -0,0 +1,53 @@
+{
+  "task_id": "carla00309",
+  "task_name": "Drive to the streetlight",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "vehicle",
+  "instruction": "Please turn right at the intersection ahead and drive to the next streetlight.",
+  "golden_actions": {
+    "steps":7,
+    "actions":[
+"Stop",
+"Stop",
+"Stop",
+"FollowLane(distance=10)",
+"TeleportTurnRight",
+"FollowLane(distance=10)",
+"Done"
+]
+  },
+  "scene": "Town02",
+  "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon":[
+  [
+    27.777415073879872,
+    299.9660946197972,
+    0.3208787441253662
+  ],
+  [
+    27.77741813659668,
+    303.7995300292969,
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+  ],
+  [
+    27.33820840024122,
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+  ],
+  [
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+    0.3208787441253662
+  ]
+]
+
+
+,
+    "threshold_label": "loose"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00310/init.json b/virtualhome/tasks/carla00310/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d36de5d50c266128ca3ac23081dc9668e720d16
--- /dev/null
+++ b/virtualhome/tasks/carla00310/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town02",
+  "weather": "ClearNoon",
+  "initial_location": [
+    41.85871887207031,
+    289.900146484375,
+    0.22161293029785156
+  ],
+  "initial_rotation": [
+    0.0,
+    89.99501037597656,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00310/task.json b/virtualhome/tasks/carla00310/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..767af696ae978831910ed0165591f9d2d55a3476
--- /dev/null
+++ b/virtualhome/tasks/carla00310/task.json
@@ -0,0 +1,55 @@
+{
+  "task_id": "carla00310",
+  "task_name": "Drive to the streetlight",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "vehicle",
+  "instruction": "Please turn left at the intersection ahead and drive to the next streetlight.",
+  "golden_actions": {
+    "steps":9,
+    "actions":[
+"Stop",
+"Stop",
+"Stop",
+"FollowLane(distance=10)",
+"TeleportTurnLeft",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"Done"
+]
+
+  },
+  "scene": "Town02",
+  "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon":[
+  [
+    87.46208698631045,
+    309.2628173828108,
+    0.32082486152648926
+  ],
+  [
+    87.46208953857442,
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+  ],
+  [
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+  ],
+  [
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+    309.2628176752336,
+    0.32082486152648926
+  ]
+]
+
+,
+    "threshold_label": "loose"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00311/task.json b/virtualhome/tasks/carla00311/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3e911b15a20d28e6c7a08801527275b5365b1ed
--- /dev/null
+++ b/virtualhome/tasks/carla00311/task.json
@@ -0,0 +1,75 @@
+{
+  "task_id": "carla00311",
+  "task_name": "Drive to the limit sign",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "vehicle",
+  "instruction": "Please go straight along the current road until you reach the speed limit sign.",
+  "golden_actions": {
+    "steps":29,
+    "actions":[
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"Done"
+]
+
+  },
+  "scene": "Town04",
+  "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon":[
+  [
+    378.0406188964841,
+    -214.07269272590725,
+    -0.12467384338378906
+  ],
+  [
+    377.9627379353309,
+    -214.07269287109395,
+    -0.12467384338378906
+  ],
+  [
+    377.96273803710966,
+    -214.12728896354588,
+    -0.12467384338378906
+  ],
+  [
+    378.04061899826286,
+    -214.12728881835918,
+    -0.12467384338378906
+  ]
+]
+
+,
+    "threshold_label": "loose"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00312/init.json b/virtualhome/tasks/carla00312/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..adb68214ef996b88efb40cc15e8eef54c9c7d284
--- /dev/null
+++ b/virtualhome/tasks/carla00312/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town04",
+  "weather": "ClearNoon",
+  "initial_location": [
+    314.5920715332031,
+    -180.75881958007812,
+    0.0073859975673258305
+  ],
+  "initial_rotation": [
+    -0.05697060376405716,
+    -89.52307891845703,
+    -0.02059936709702015
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00312/task.json b/virtualhome/tasks/carla00312/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..a36b5fbb053b23de6d4cb015eefc920fe72d89ac
--- /dev/null
+++ b/virtualhome/tasks/carla00312/task.json
@@ -0,0 +1,53 @@
+{
+  "task_id": "carla00312",
+  "task_name": "Drive to the tree",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "vehicle",
+  "instruction": "Please go straight through the intersection ahead and drive to the nearest tree in front.",
+  "golden_actions": {
+    "steps":8,
+    "actions":[
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"Done"
+]
+
+  },
+  "scene": "Town04",
+  "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon":[
+  [
+    316.35504150390625,
+    -263.2582702636719,
+    -0.285611629486084
+  ],
+  [
+    323.92791748046875,
+    -263.2582702636719,
+    -0.285611629486084
+  ],
+  [
+    323.92791748046875,
+    -255.90017700195312,
+    -0.285611629486084
+  ],
+  [
+    316.35504150390625,
+    -255.90017700195312,
+    -0.285611629486084
+  ]
+]
+,
+    "threshold_label": "loose"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00313/init.json b/virtualhome/tasks/carla00313/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..adb68214ef996b88efb40cc15e8eef54c9c7d284
--- /dev/null
+++ b/virtualhome/tasks/carla00313/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town04",
+  "weather": "ClearNoon",
+  "initial_location": [
+    314.5920715332031,
+    -180.75881958007812,
+    0.0073859975673258305
+  ],
+  "initial_rotation": [
+    -0.05697060376405716,
+    -89.52307891845703,
+    -0.02059936709702015
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00313/task.json b/virtualhome/tasks/carla00313/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c1f571141e08879b6958c3eb96e2887eb535203
--- /dev/null
+++ b/virtualhome/tasks/carla00313/task.json
@@ -0,0 +1,57 @@
+{
+  "task_id": "carla00313",
+  "task_name": "Drive to the second lamp",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "vehicle",
+  "instruction": "Please drive straight through the traffic light and then stop next to the second streetlight.",
+  "golden_actions": {
+    "steps":11,
+    "actions":[
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"Done"
+]
+
+
+  },
+  "scene": "Town04",
+  "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon":[
+  [
+    316.50994873046875,
+    -283.0301513671875,
+    0.005124330520629883
+  ],
+  [
+    312.90767030348246,
+    -281.7190357628214,
+    0.005124330520629883
+  ],
+  [
+    312.7574462890625,
+    -282.13177490234375,
+    0.005124330520629883
+  ],
+  [
+    316.3597247160488,
+    -283.44289050670983,
+    0.005124330520629883
+  ]
+]
+,
+    "threshold_label": "loose"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00314/init.json b/virtualhome/tasks/carla00314/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..2029cee3868bef68b131a2275cbdf741f9a84a75
--- /dev/null
+++ b/virtualhome/tasks/carla00314/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town04",
+  "weather": "ClearNoon",
+  "initial_location": [
+    349.0343933105469,
+    -219.66580200195312,
+    0.005647525656968355
+  ],
+  "initial_rotation": [
+    0.0,
+    90.77143096923828,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00314/task.json b/virtualhome/tasks/carla00314/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0299147ae22f73934bdf72dbd5cf8788eebefa0
--- /dev/null
+++ b/virtualhome/tasks/carla00314/task.json
@@ -0,0 +1,51 @@
+{
+  "task_id": "carla00314",
+  "task_name": "Drive to the last lamp before the intersection",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "vehicle",
+  "instruction": "Please follow the current lane and stop at the final streetlight situated immediately before the intersection.",
+  "golden_actions": {
+    "steps":5,
+    "actions":[
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"Done"
+]
+
+
+  },
+  "scene": "Town04",
+  "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon":[
+  [
+    343.125305175783,
+    -170.88679394636665,
+    -0.050540924072265625
+  ],
+  [
+    343.12529303741354,
+    -178.48326110837905,
+    -0.050540924072265625
+  ],
+  [
+    343.812194824217,
+    -178.4832622059771,
+    -0.050540924072265625
+  ],
+  [
+    343.81220696258646,
+    -170.8867950439647,
+    -0.050540924072265625
+  ]
+],
+    
+    "threshold_label": "loose"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00315/init.json b/virtualhome/tasks/carla00315/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..2672ff43a64339e246236e1790e217813938d194
--- /dev/null
+++ b/virtualhome/tasks/carla00315/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town03",
+  "weather": "ClearNoon",
+  "initial_location": [
+    -6.27617073059082,
+    89.60538482666016,
+    0.0014373969752341509
+  ],
+  "initial_rotation": [
+    0.0,
+    89.63745880126953,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00315/task.json b/virtualhome/tasks/carla00315/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..90d084721dd5ac54dac58886cb08127f3e9ec1ab
--- /dev/null
+++ b/virtualhome/tasks/carla00315/task.json
@@ -0,0 +1,51 @@
+{
+  "task_id": "carla00315",
+  "task_name": "Drive to the final streetlight",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "vehicle",
+  "instruction": "Please go straight to the final streetlight before you reach the intersection.",
+  "golden_actions": {
+    "steps":4,
+    "actions":[
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"Done"
+]
+
+
+  },
+  "scene": "Town03",
+  "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon":[
+  [
+    -5.189889430999756,
+    116.95979309082031,
+    0.15323495864868164
+  ],
+  [
+    0.4782133102416992,
+    116.95979309082031,
+    0.15323495864868164
+  ],
+  [
+    0.4782133102416992,
+    117.44296264648438,
+    0.15323495864868164
+  ],
+  [
+    -5.189889430999756,
+    117.44296264648438,
+    0.15323495864868164
+  ]
+]
+,
+    
+    "threshold_label": "loose"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00316/init.json b/virtualhome/tasks/carla00316/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..b534a15af463f875726cde932df121cf559eb6c7
--- /dev/null
+++ b/virtualhome/tasks/carla00316/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town03",
+  "weather": "ClearNoon",
+  "initial_location": [
+    -6.0863494873046875,
+    119.60474395751953,
+    0.0014373969752341509
+  ],
+  "initial_rotation": [
+    0.0,
+    89.63745880126953,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00316/task.json b/virtualhome/tasks/carla00316/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..de9a3991e5c81707c45ae5e323862e89134b2089
--- /dev/null
+++ b/virtualhome/tasks/carla00316/task.json
@@ -0,0 +1,54 @@
+{
+  "task_id": "carla00316",
+  "task_name": "Drive to the second streetlight",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "vehicle",
+  "instruction": "Please drive to the second streetlight after passing through this intersection.",
+  "golden_actions": {
+    "steps":6,
+    "actions":[
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"Done"
+]
+
+
+  },
+  "scene": "Town03",
+  "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon":[
+  [
+    -5.189889430999756,
+    169.834228515625,
+    0.15328407287597656
+  ],
+  [
+    0.4782133102416992,
+    169.834228515625,
+    0.15328407287597656
+  ],
+  [
+    0.4782133102416992,
+    170.31741333007812,
+    0.15328407287597656
+  ],
+  [
+    -5.189889430999756,
+    170.31741333007812,
+    0.15328407287597656
+  ]
+]
+
+,
+    
+    "threshold_label": "loose"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00317/init.json b/virtualhome/tasks/carla00317/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb7888bc35b1148487872a3316523fb2fb237de7
--- /dev/null
+++ b/virtualhome/tasks/carla00317/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town03",
+  "weather": "ClearNoon",
+  "initial_location": [
+    33.241878509521484,
+    134.11810302734375,
+    0.0014373207231983542
+  ],
+  "initial_rotation": [
+    0.0,
+    -0.8171995878219604,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00317/task.json b/virtualhome/tasks/carla00317/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab02209faac9904acbd5ba0b26dc3ef476a81832
--- /dev/null
+++ b/virtualhome/tasks/carla00317/task.json
@@ -0,0 +1,53 @@
+{
+  "task_id": "carla00317",
+  "task_name": "Drive to the lamppost",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "vehicle",
+  "instruction": "Please drive to the lamppost next to the gate of the terracotta-colored house.",
+  "golden_actions": {
+    "steps":4,
+    "actions":[
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"Done"
+]
+
+
+  },
+  "scene": "Town03",
+  "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon":[
+  [
+    66.25769805908203,
+    139.31719970703125,
+    0.1498250961303711
+  ],
+  [
+    68.3145523071289,
+    139.31719970703125,
+    0.1498250961303711
+  ],
+  [
+    68.3145523071289,
+    141.617919921875,
+    0.1498250961303711
+  ],
+  [
+    66.25769805908203,
+    141.617919921875,
+    0.1498250961303711
+  ]
+]
+
+
+,
+    
+    "threshold_label": "loose"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00318/init.json b/virtualhome/tasks/carla00318/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..c694d43e6ab2b18be26311941502679fc39667e1
--- /dev/null
+++ b/virtualhome/tasks/carla00318/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town03",
+  "weather": "ClearNoon",
+  "initial_location": [
+    63.23884963989258,
+    133.6902313232422,
+    0.005263233091682196
+  ],
+  "initial_rotation": [
+    0.047305889427661896,
+    -0.81719970703125,
+    -6.103519262978807e-05
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00318/task.json b/virtualhome/tasks/carla00318/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..85ee6e3208ba3a6f13d7486c8e41afa4167d659f
--- /dev/null
+++ b/virtualhome/tasks/carla00318/task.json
@@ -0,0 +1,53 @@
+{
+  "task_id": "carla00318",
+  "task_name": "Drive to the tree",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "vehicle",
+  "instruction": "Please drive to the tree in front of the house ahead.",
+  "golden_actions": {
+    "steps":4,
+    "actions":[
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"Done"
+]
+
+
+  },
+  "scene": "Town03",
+  "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon":[
+  [
+    89.54901881977416,
+    141.47831680252563,
+    0.131256103515625
+  ],
+  [
+    89.94722168333396,
+    146.02975447815484,
+    0.131256103515625
+  ],
+  [
+    84.94713596538209,
+    146.46720932052125,
+    0.131256103515625
+  ],
+  [
+    84.54893310182229,
+    141.91577164489203,
+    0.131256103515625
+  ]
+]
+
+
+,
+    
+    "threshold_label": "loose"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00319/init.json b/virtualhome/tasks/carla00319/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..512b7ff6d52df7dd5a85a6f862b66f829dee8ee4
--- /dev/null
+++ b/virtualhome/tasks/carla00319/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town03",
+  "weather": "ClearNoon",
+  "initial_location": [
+    93.23711395263672,
+    133.26234436035156,
+    0.13205629587173462
+  ],
+  "initial_rotation": [
+    0.378638356924057,
+    -0.8171079754829407,
+    -6.103530176915228e-05
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00319/task.json b/virtualhome/tasks/carla00319/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..ece7c114e1c83b0abc62819568aa95e6a8ce9c15
--- /dev/null
+++ b/virtualhome/tasks/carla00319/task.json
@@ -0,0 +1,60 @@
+{
+  "task_id": "carla00319",
+  "task_name": "Drive to the final lamppost",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "vehicle",
+  "instruction": "Please keep going straight on this road until you reach the final lamppost before the next intersection.",
+  "golden_actions": {
+    "steps":12,
+    "actions":[
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"FollowLane(distance=10)",
+"Done"
+]
+
+  },
+  "scene": "Town03",
+  "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon":[
+  [
+    175.97811889648438,
+    76.13075256347656,
+    0.1498246192932129
+  ],
+  [
+    178.03497314453125,
+    76.13075256347656,
+    0.1498246192932129
+  ],
+  [
+    178.03497314453125,
+    78.43145751953125,
+    0.1498246192932129
+  ],
+  [
+    175.97811889648438,
+    78.43145751953125,
+    0.1498246192932129
+  ]
+]
+
+
+,
+    
+    "threshold_label": "loose"
+    },
+  "max_steps": 30
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00400/init.json b/virtualhome/tasks/carla00400/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..c809091e77aa116785d33d3b2e7aa5d76f270733
--- /dev/null
+++ b/virtualhome/tasks/carla00400/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town04",
+  "weather": "ClearNoon",
+  "initial_location": [
+    222.32542419433594,
+    -301.1700439453125,
+    1.1240019798278809
+  ],
+  "initial_rotation": [
+    0.0,
+    0.0,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00400/task.json b/virtualhome/tasks/carla00400/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ccb1af83a580653bf4d7a60fed3f754a23694a5
--- /dev/null
+++ b/virtualhome/tasks/carla00400/task.json
@@ -0,0 +1,58 @@
+{
+    "task_id": "carla00400",
+    "task_name": "Walk to the church ahead of the slide.",
+    "input_modality": "image_goal",
+    "origin_location": false,
+    "image_url": "./image.png",
+    "executor": "walker",
+    "instruction": "Do you see the church ahead of the slide? If yes, please walk straight to the church door.",
+    "golden_actions": {
+      "steps": 15,
+      "actions":[
+        "WalkForward(distance=10)",
+        "WalkForward(distance=10)",
+        "WalkForward(distance=10)",
+        "TurnRight",
+        "WalkForward(distance=10)",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "TurnLeft",
+        "WalkForward(distance=3)",
+        "Done"
+        ]
+    },
+    "scene": "Town04",
+    "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon":[
+        [
+            290.882568359375,
+            -294.34478759765625,
+            0.16048622131347656
+          ],
+          [
+            299.8791494835678,
+            -285.34819449378307,
+            0.16048622131347656
+          ],
+          [
+            292.24493408203125,
+            -277.7139892578125,
+            0.16048622131347656
+          ],
+          [
+            283.24835295783845,
+            -286.7105823616857,
+            0.16048622131347656
+          ]
+  ],
+      "threshold_label": "loose"
+    },
+    "max_steps": 50
+  }
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00401/init.json b/virtualhome/tasks/carla00401/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e80ed02c6d2bcf5b745e90c0d00dd7ce1a6ae45
--- /dev/null
+++ b/virtualhome/tasks/carla00401/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town04",
+  "weather": "ClearNoon",
+  "initial_location": [
+    159.445556640625,
+    -301.1700439453125,
+    1.1375607252120972
+  ],
+  "initial_rotation": [
+    0.0,
+    0.0,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00401/task.json b/virtualhome/tasks/carla00401/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..041315e82a0d6dd7c23e3e9bb98ace1a6c1ab0c5
--- /dev/null
+++ b/virtualhome/tasks/carla00401/task.json
@@ -0,0 +1,52 @@
+{
+  "task_id": "carla00401",
+  "task_name": "See the streetlight past the two cars? Walk to it.",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "walker",
+  "instruction": "Do you see the streetlight just beyond the two cars in front of you? Please walk up to the streetlight.",
+  "golden_actions": {
+    "steps": 9,
+    "actions":[
+      "TurnLeft",
+      "WalkForward(distance=3)",
+      "WalkForward(distance=3)",
+      "WalkForward(distance=3)",
+      "WalkForward(distance=3)",
+      "WalkForward(distance=3)",
+      "WalkForward(distance=3)",
+      "WalkForward(distance=3)",
+      "Done"
+      ]
+  },
+  "scene": "Town04",
+  "weather": "ClearSunset",
+  "success_conditions": {
+    "type": "polygon_area",
+    "target_polygon":[
+      [
+        181.4425506591797,
+        -315.5366516113281,
+        0.18525218963623047
+      ],
+      [
+        183.49940490722656,
+        -315.5366516113281,
+        0.18525218963623047
+      ],
+      [
+        183.49940490722656,
+        -313.2359313964844,
+        0.18525218963623047
+      ],
+      [
+        181.4425506591797,
+        -313.2359313964844,
+        0.18525218963623047
+      ]
+],
+    "threshold_label": "loose"
+  },
+  "max_steps": 50
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00403/init.json b/virtualhome/tasks/carla00403/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..ded14b96bf350629b0e27244dff48a451242fb1c
--- /dev/null
+++ b/virtualhome/tasks/carla00403/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town04",
+  "weather": "ClearNoon",
+  "initial_location": [
+    253.2655029296875,
+    -301.1700439453125,
+    0.9710846543312073
+  ],
+  "initial_rotation": [
+    0.0,
+    89.9999771118164,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00403/task.json b/virtualhome/tasks/carla00403/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a95f6e4892a8cd8b43709546e820e3bf9555020
--- /dev/null
+++ b/virtualhome/tasks/carla00403/task.json
@@ -0,0 +1,51 @@
+{
+    "task_id": "carla00403",
+    "task_name": "Meeting my friend at the green belt ahead. Please go there.",
+    "input_modality": "image_goal",
+    "origin_location": false,
+    "image_url": "./image.png",
+    "executor": "walker",
+    "instruction": "I made plans with my friend to meet at the green belt up ahead. Please walk over there.",
+    "golden_actions": {
+      "steps": 7,
+      "actions":[
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "Done"
+        ]
+    },
+    "scene": "Town04",
+    "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon":[
+        [
+            264.46400494097475,
+            -306.2876434112297,
+            -0.10410785675048828
+          ],
+          [
+            294.22589393292833,
+            -300.53528822858044,
+            -0.10410785675048828
+          ],
+          [
+            293.2271912499963,
+            -295.3681388712105,
+            -0.10410785675048828
+          ],
+          [
+            263.4653022580427,
+            -301.1204940538597,
+            -0.10410785675048828
+          ]
+        
+  ],
+      "threshold_label": "loose"
+    },
+    "max_steps": 50
+  }
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00404/init.json b/virtualhome/tasks/carla00404/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..489dfaa185425e089eaeb74f310fc7af7c216f3d
--- /dev/null
+++ b/virtualhome/tasks/carla00404/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town04",
+  "weather": "ClearNoon",
+  "initial_location": [
+    253.2655029296875,
+    -248.62989807128906,
+    0.9685689806938171
+  ],
+  "initial_rotation": [
+    0.0,
+    89.99995422363281,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00404/task.json b/virtualhome/tasks/carla00404/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c45d1815d8b1d1b7d080835cb0ccfa0ab3f39a2
--- /dev/null
+++ b/virtualhome/tasks/carla00404/task.json
@@ -0,0 +1,58 @@
+{
+    "task_id": "carla00404",
+    "task_name": "Red box shop? Walk to it.",
+    "input_modality": "image_goal",
+    "origin_location": false,
+    "image_url": "./image.png",
+    "executor": "walker",
+    "instruction": "Can you see the storefront marked by the red box? Please walk forward to the front of this shop.",
+    "golden_actions": {
+      "steps": 14,
+      "actions":[
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "TurnRight",
+        "TurnRight",
+        "WalkForward(distance=3)",
+        "Done"
+        ]
+    },
+    "scene": "Town04",
+    "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon":[
+        [
+            247.6149444580078,
+            -211.28811645507812,
+            0.0962221622467041
+          ],
+          [
+            247.61493808744552,
+            -215.27495895239855,
+            0.0962221622467041
+          ],
+          [
+            250.38514709472656,
+            -215.27496337890625,
+            0.0962221622467041
+          ],
+          [
+            250.38515346528885,
+            -211.28812088158583,
+            0.0962221622467041
+          ]
+        
+  ],
+      "threshold_label": "loose"
+    },
+    "max_steps": 50
+  }
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00405/init.json b/virtualhome/tasks/carla00405/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dc29a9ede7a60b59b5c12529589158e7918cdb4
--- /dev/null
+++ b/virtualhome/tasks/carla00405/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town04",
+  "weather": "ClearNoon",
+  "initial_location": [
+    245.38194274902344,
+    -176.6244659423828,
+    1.2997922897338867
+  ],
+  "initial_rotation": [
+    0.0,
+    119.99995422363281,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00405/task.json b/virtualhome/tasks/carla00405/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..44ef0e0c2b499d9dfdf93b743cf7bbfacf823a44
--- /dev/null
+++ b/virtualhome/tasks/carla00405/task.json
@@ -0,0 +1,57 @@
+{
+    "task_id": "carla00405",
+    "task_name": "Eat here, see red box, go there.",
+    "input_modality": "image_goal",
+    "origin_location": false,
+    "image_url": "./image.png",
+    "executor": "walker",
+    "instruction": "I want to eat here, can you see the place marked with the red box? Walk over there.",
+    "golden_actions": {
+      "steps": 13,
+      "actions":[
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "WalkForward(distance=3)",
+        "TurnLeft",
+        "WalkForward(distance=3)",
+        "TurnLeft",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "TurnRight",
+        "TurnRight",
+        "Done"
+        ]
+    },
+    "scene": "Town04",
+    "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon":[
+        [
+          236.29999948289478,
+          -186.98379672048515,
+          3.094971179962158
+        ],
+        [
+          236.3000030517578,
+          -182.516845703125,
+          3.094971179962158
+        ],
+        [
+          234.35435842726147,
+          -182.51684414865548,
+          3.094971179962158
+        ],
+        [
+          234.35435485839844,
+          -186.98379516601562,
+          3.094971179962158
+        ]
+        
+  ],
+      "threshold_label": "loose"
+    },
+    "max_steps": 50
+  }
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00406/init.json b/virtualhome/tasks/carla00406/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..91f001ee8af6b31ef12231d0452f8ccad3e6f035
--- /dev/null
+++ b/virtualhome/tasks/carla00406/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town04",
+  "weather": "ClearNoon",
+  "initial_location": [
+    100.8792724609375,
+    -174.520263671875,
+    1.146772027015686
+  ],
+  "initial_rotation": [
+    0.0,
+    179.99996948242188,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00406/task.json b/virtualhome/tasks/carla00406/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..61dbaa13118058345ed323ab07d4ad693e592a07
--- /dev/null
+++ b/virtualhome/tasks/carla00406/task.json
@@ -0,0 +1,50 @@
+{
+    "task_id": "carla00406",
+    "task_name": "Find the speed limit sign and go there",
+    "input_modality": "image_goal",
+    "origin_location": false,
+    "image_url": "./image.png",
+    "executor": "walker",
+    "instruction": "Please help me find the speed limit sign and walk over to it.",
+    "golden_actions": {
+      "steps": 5,
+      "actions":[
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "WalkForward(distance=3)",
+        "Done"
+        ]
+        
+    },
+    "scene": "Town04",
+    "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon":[
+        [
+            103.3180996433466,
+            -167.11914616040892,
+            -0.06093144416809082
+          ],
+          [
+            103.32276527055917,
+            -167.04141257768796,
+            -0.06093144416809082
+          ],
+          [
+            103.26826510274715,
+            -167.03814143724733,
+            -0.06093144416809082
+          ],
+          [
+            103.26359947553458,
+            -167.11587501996829,
+            -0.06093144416809082
+          ]
+        
+  ],
+      "threshold_label": "loose"
+    },
+    "max_steps": 50
+  }
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00407/init.json b/virtualhome/tasks/carla00407/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..21363aff837c6b32e89dac293edeb1912bdbde12
--- /dev/null
+++ b/virtualhome/tasks/carla00407/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town05",
+  "weather": "ClearNoon",
+  "initial_location": [
+    143.92686462402344,
+    -15.881950378417969,
+    1.137170672416687
+  ],
+  "initial_rotation": [
+    0.0,
+    90.00000762939453,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00407/task.json b/virtualhome/tasks/carla00407/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..b354ca00487522bfb7939b5bb21620c142d97b7f
--- /dev/null
+++ b/virtualhome/tasks/carla00407/task.json
@@ -0,0 +1,55 @@
+{
+    "task_id": "carla00407",
+    "task_name": "Go check that stop sign ahead",
+    "input_modality": "image_goal",
+    "origin_location": false,
+    "image_url": "./image.png",
+    "executor": "walker",
+    "instruction": "Is there a stop sign ahead? Walk over there—I want to take a closer look.",
+    "golden_actions": {
+      "steps": 11,
+      "actions":[
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "TurnRight",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "TurnLeft",
+        "TurnLeft",
+        "WalkForward(distance=3)",
+        "Done"
+        ]
+        
+    },
+    "scene": "Town05",
+    "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon":[
+        [
+          142.26185996351512,
+          6.009302629411776,
+          0.0441591739654541
+        ],
+        [
+          142.26268005371094,
+          6.087168216705322,
+          0.0441591739654541
+        ],
+        [
+          142.20808022203175,
+          6.087743269025724,
+          0.0441591739654541
+        ],
+        [
+          142.20726013183594,
+          6.009877681732178,
+          0.0441591739654541
+        ]
+  ],
+      "threshold_label": "loose"
+    },
+    "max_steps": 50
+  }
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00408/init.json b/virtualhome/tasks/carla00408/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..124af1aaa3689cca859ac15b4909da57e1352be8
--- /dev/null
+++ b/virtualhome/tasks/carla00408/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town05",
+  "weather": "ClearNoon",
+  "initial_location": [
+    129.52684020996094,
+    17.538822174072266,
+    1.1221034526824951
+  ],
+  "initial_rotation": [
+    0.0,
+    119.99986267089844,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00408/task.json b/virtualhome/tasks/carla00408/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..f45f8326986936bab4d894df3af0dd5f628770c7
--- /dev/null
+++ b/virtualhome/tasks/carla00408/task.json
@@ -0,0 +1,48 @@
+{
+    "task_id": "carla00408",
+    "task_name": "Walk to the soccer goal under the Coca-Cola sign.",
+    "input_modality": "image_goal",
+    "origin_location": false,
+    "image_url": "./image.png",
+    "executor": "walker",
+    "instruction": "Can you find the soccer goal under the Coca-Cola sign? If so, please walk over there.",
+    "golden_actions": {
+      "steps": 5,
+      "actions":[
+        "TurnLeft",
+        "WalkForward(distance=10)",
+        "WalkForward(distance=10)",
+        "WalkForward(distance=3)",
+        "Done"
+        ]
+    },
+    "scene": "Town05",
+    "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon":[
+        [
+          124.3333740234375,
+          45.91349792480469,
+          0.041570305824279785
+        ],
+        [
+          128.3359832763672,
+          45.91349792480469,
+          0.041570305824279785
+        ],
+        [
+          128.3359832763672,
+          46.0279541015625,
+          0.041570305824279785
+        ],
+        [
+          124.3333740234375,
+          46.0279541015625,
+          0.041570305824279785
+        ]
+  ],
+      "threshold_label": "loose"
+    },
+    "max_steps": 50
+  }
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00409/init.json b/virtualhome/tasks/carla00409/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..4587b222875a1c0052844e3bc99307378b9ec7fc
--- /dev/null
+++ b/virtualhome/tasks/carla00409/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town05",
+  "weather": "ClearNoon",
+  "initial_location": [
+    145.99050903320312,
+    -8.870040893554688,
+    1.136958122253418
+  ],
+  "initial_rotation": [
+    0.0,
+    119.99993896484375,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00409/task.json b/virtualhome/tasks/carla00409/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5bad8fe0c1bd35ae2210481b883802f20b1b8a1
--- /dev/null
+++ b/virtualhome/tasks/carla00409/task.json
@@ -0,0 +1,55 @@
+{
+  "task_id": "carla00409",
+  "task_name": "Walk to the nearest lamp post by the parking sign in the soccer field.",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "walker",
+  "instruction": "Can you walk to the lamp post closest to the parking sign inside the soccer field?",
+  "golden_actions": {
+    "steps": 12,
+    "actions":[
+      "WalkForward(distance=3)",
+      "WalkForward(distance=3)",
+      "WalkForward(distance=3)",
+      "WalkForward(distance=3)",
+      "WalkForward(distance=3)",
+      "TurnLeft",
+      "WalkForward(distance=3)",
+      "TurnLeft",
+      "WalkForward(distance=3)",
+      "TurnLeft",
+      "TurnLeft",
+      "Done"
+      ]
+  },
+  "scene": "Town05",
+  "weather": "ClearSunset",
+  "success_conditions": {
+    "type": "polygon_area",
+    "target_polygon":[
+      [
+        141.06019592285156,
+        9.5232515335083,
+        0.1791062355041504
+      ],
+      [
+        143.4280242919922,
+        9.5232515335083,
+        0.1791062355041504
+      ],
+      [
+        143.4280242919922,
+        11.891066551208496,
+        0.1791062355041504
+      ],
+      [
+        141.06019592285156,
+        11.891066551208496,
+        0.1791062355041504
+      ]
+],
+    "threshold_label": "loose"
+  },
+  "max_steps": 50
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00410/init.json b/virtualhome/tasks/carla00410/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb69f1cc96e6a2944e8ce5dd8d7419e300d887df
--- /dev/null
+++ b/virtualhome/tasks/carla00410/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town05",
+  "weather": "ClearNoon",
+  "initial_location": [
+    100.53241729736328,
+    4.2448201179504395,
+    0.9521624445915222
+  ],
+  "initial_rotation": [
+    0.0,
+    179.99954223632812,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00410/task.json b/virtualhome/tasks/carla00410/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..f55555ddf5e02f180098de7cfad47d935886ddba
--- /dev/null
+++ b/virtualhome/tasks/carla00410/task.json
@@ -0,0 +1,52 @@
+{
+    "task_id": "carla00410",
+    "task_name": "Red box shop? Walk to it.Go to the second office hallway ahead and wait.",
+    "input_modality": "image_goal",
+    "origin_location": false,
+    "image_url": "./image.png",
+    "executor": "walker",
+    "instruction": "See the two office hallways ahead? Walk to the second one—I need to wait for someone there.",
+    "golden_actions": {
+      "steps": 8,
+      "actions":[
+        "WalkForward(distance=10)",
+        "WalkForward(distance=10)",
+        "WalkForward(distance=10)",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "Done"
+        ]
+        
+    },
+    "scene": "Town05",
+    "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon":[
+        [
+          52.81722819471997,
+          14.451830007368326,
+          6.3279290199279785
+        ],
+        [
+          52.81719970703125,
+          0.18923616409301847,
+          6.3279290199279785
+        ],
+        [
+          52.865808609479245,
+          0.18923606700301487,
+          6.3279290199279785
+        ],
+        [
+          52.86583709716797,
+          14.45182991027832,
+          6.3279290199279785
+        ]
+  ],
+      "threshold_label": "loose"
+    },
+    "max_steps": 50
+  }
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00411/init.json b/virtualhome/tasks/carla00411/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..41092a32a5dd44ab9ef254a80c725f320303a099
--- /dev/null
+++ b/virtualhome/tasks/carla00411/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town05",
+  "weather": "ClearNoon",
+  "initial_location": [
+    24.918678283691406,
+    -25.706077575683594,
+    0.9515150785446167
+  ],
+  "initial_rotation": [
+    0.0,
+    29.99967384338379,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00411/task.json b/virtualhome/tasks/carla00411/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..a249ebe7d427b318a535b7115d8e91e098f0435c
--- /dev/null
+++ b/virtualhome/tasks/carla00411/task.json
@@ -0,0 +1,51 @@
+{
+    "task_id": "carla00411",
+    "task_name": "Go wait by the tree near the red frame.",
+    "input_modality": "image_goal",
+    "origin_location": false,
+    "image_url": "./image.png",
+    "executor": "walker",
+    "instruction": "Can you see the tree by the red frame? Walk over there. I need to wait for a friend.",
+    "golden_actions": {
+      "steps": 7,
+      "actions":[
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "Done"
+        ]
+        
+    },
+    "scene": "Town05",
+    "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon":[
+        [
+          41.67560577392578,
+          -17.305740356445312,
+          0.4723806381225586
+        ],
+        [
+          46.2855224609375,
+          -17.305740356445312,
+          0.4723806381225586
+        ],
+        [
+          46.2855224609375,
+          -12.677547454833984,
+          0.4723806381225586
+        ],
+        [
+          41.67560577392578,
+          -12.677547454833984,
+          0.4723806381225586
+        ]
+  ],
+      "threshold_label": "loose"
+    },
+    "max_steps": 50
+  }
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00412/init.json b/virtualhome/tasks/carla00412/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6d2c40a1df6607d2e4fef1c6fbe3e1d8e295e8f
--- /dev/null
+++ b/virtualhome/tasks/carla00412/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town05",
+  "weather": "ClearNoon",
+  "initial_location": [
+    -42.44941711425781,
+    -59.1926155090332,
+    1.0069503784179688
+  ],
+  "initial_rotation": [
+    0.0,
+    179.9996337890625,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00412/task.json b/virtualhome/tasks/carla00412/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d647195b5cbc6ae293e3e059d712fbe88d43615
--- /dev/null
+++ b/virtualhome/tasks/carla00412/task.json
@@ -0,0 +1,51 @@
+{
+    "task_id": "carla00412",
+    "task_name": "Go to the security booth by the lawn.",
+    "input_modality": "image_goal",
+    "origin_location": false,
+    "image_url": "./image.png",
+    "executor": "walker",
+    "instruction": "Walk to the security booth in front of this lawn. I need to find the guard.",
+    "golden_actions": {
+      "steps": 7,
+      "actions":[
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "TurnRight",
+        "WalkForward(distance=3)",
+        "WalkForward(distance=3)",
+        "Done"
+        ]
+        
+    },
+    "scene": "Town05",
+    "weather": "ClearSunset",
+    "success_conditions": {
+      "type": "polygon_area",
+      "target_polygon":[
+        [
+          -63.68436050415039,
+          -67.25613403320312,
+          0.17506587505340576
+        ],
+        [
+          -60.9389762878418,
+          -67.25613403320312,
+          0.17506587505340576
+        ],
+        [
+          -60.9389762878418,
+          -64.94175720214844,
+          0.17506587505340576
+        ],
+        [
+          -63.68436050415039,
+          -64.94175720214844,
+          0.17506587505340576
+        ]
+  ],
+      "threshold_label": "loose"
+    },
+    "max_steps": 50
+  }
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00413/init.json b/virtualhome/tasks/carla00413/init.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ffaab138575ad885e022ff6bb5a443f7768b99a
--- /dev/null
+++ b/virtualhome/tasks/carla00413/init.json
@@ -0,0 +1,14 @@
+{
+  "scene": "Town05",
+  "weather": "ClearNoon",
+  "initial_location": [
+    -141.57054138183594,
+    -86.49343872070312,
+    0.9514999389648438
+  ],
+  "initial_rotation": [
+    0.0,
+    -0.00039672848652116954,
+    0.0
+  ]
+}
\ No newline at end of file
diff --git a/virtualhome/tasks/carla00413/task.json b/virtualhome/tasks/carla00413/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..572b1bd4498ffd4e77e32e93c206c83a216dd7a0
--- /dev/null
+++ b/virtualhome/tasks/carla00413/task.json
@@ -0,0 +1,50 @@
+{
+  "task_id": "carla00413",
+  "task_name": "See the Coca-Cola billboard? Walk under it.",
+  "input_modality": "image_goal",
+  "origin_location": false,
+  "image_url": "./image.png",
+  "executor": "walker",
+  "instruction": "Can you see the Coca-Cola billboard? Please walk underneath it.",
+  "golden_actions": {
+
+    "steps": 5,
+    "actions":[
+"WalkForward(distance=10)",
+"WalkForward(distance=10)",
+"WalkForward(distance=3)",
+"WalkForward(distance=3)",
+"Done"
+]
+      
+  },
+  "scene": "Town05",
+  "weather": "ClearSunset",
+  "success_conditions": {
+    "type": "polygon_area",
+    "target_polygon":[
+[
+  -112.25735473632812,
+  -84.53640747070312,
+  0.2086811065673828
+],
+[
+  -108.25732421875,
+  -84.53640747070312,
+  0.2086811065673828
+],
+[
+  -108.25732421875,
+  -74.92445373535156,
+  0.2086811065673828
+],
+[
+  -112.25735473632812,
+  -74.92445373535156,
+  0.2086811065673828
+]
+],
+    "threshold_label": "loose"
+  },
+  "max_steps": 50
+}
\ No newline at end of file