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+{"episode_index": 0, "tasks": ["Pack the gift set into the box."], "length": 513, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260318/1029/00/13/00"], "task_index": 3, "low_level_tasks": ["Place both hands on the side flaps of the Package Box and spread them outward.", "Lift both hands away from the flaps of the Package Box.", "Press and hold the closed box until the human finishes sealing it."], "instruction_key": "high_level_instruction", "sid": "S5696", "sub_episode_idx": 0, "high_level_instruction": "Pack the gift set into the box.", "low_level_instruction": "Place both hands on the side flaps of the Package Box and spread them outward.", "unit_name": "ds-teleop-0001-05", "task_status": "success"}
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+{"episode_index": 20, "tasks": ["Separate and place wrapped and unwrapped clocks."], "length": 614, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260420/1082/01/03/00"], "task_index": 12, "low_level_tasks": ["Pick up the Digital clock indicated by the person.", "If the picked Digital clock is wrapped, place it in the Package Box ; if not, place it in the Organizing box.", "Pick up the Digital clock indicated by the person.", "If the picked Digital clock is wrapped, place it in the Package Box ; if not, place it in the Organizing box.", "Pick up the Digital clock indicated by the person.", "If the picked Digital clock is wrapped, place it in the Package Box ; if not, place it in the Organizing box."], "instruction_key": "high_level_instruction", "sid": "S6523", "sub_episode_idx": 0, "high_level_instruction": "Separate and place wrapped and unwrapped clocks.", "low_level_instruction": "Pick up the Digital clock indicated by the person.", "unit_name": "ds-teleop-0001-04", "task_status": "success"}
+{"episode_index": 21, "tasks": ["Wrap the clocks to prevent damage."], "length": 501, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260421/1014/03/29/00"], "task_index": 11, "low_level_tasks": ["Open the side flaps of the Package Box.", "Once the human has placed the objects inside and stepped back, release both hands from the side flaps of the Package Box.", "Push the right (or left) flap of the Package Box to close it.", "Push the left (or right) flap of the Package Box to close it.", "After the human seals the box with tape, release both hands from the side flaps of the Package Box."], "instruction_key": "high_level_instruction", "sid": "S6530", "sub_episode_idx": 0, "high_level_instruction": "Wrap the clocks to prevent damage.", "low_level_instruction": "Open the side flaps of the Package Box.", "unit_name": "ds-teleop-0001-04", "task_status": "success"}
+{"episode_index": 22, "tasks": ["Pack the glasses set securely to prepare it for shipping."], "length": 413, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260421/1035/01/07/00"], "task_index": 25, "low_level_tasks": ["Place the Glasses case inside the Package Box.", "Put the Glasses case from the right side of the table into the Package Box.", "Position the Package Box on the left side of the table."], "instruction_key": "high_level_instruction", "sid": "S6525", "sub_episode_idx": 0, "high_level_instruction": "Pack the glasses set securely to prepare it for shipping.", "low_level_instruction": "Place the Glasses case inside the Package Box.", "unit_name": "ds-teleop-0001-03", "task_status": "success"}
+{"episode_index": 23, "tasks": ["Sort the digital clocks into the basket."], "length": 309, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260421/1035/02/44/00"], "task_index": 9, "low_level_tasks": ["Pick up the Digital clock from the table and place it into the empty Plastic storage basket.", "Pick up the Digital clock from the table and place it into the empty Plastic storage basket."], "instruction_key": "high_level_instruction", "sid": "S6558", "sub_episode_idx": 0, "high_level_instruction": "Sort the digital clocks into the basket.", "low_level_instruction": "Pick up the Digital clock from the table and place it into the empty Plastic storage basket.", "unit_name": "ds-teleop-0001-03", "task_status": "success"}
+{"episode_index": 24, "tasks": ["Clean the shelf."], "length": 784, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260421/1067/01/25/00"], "task_index": 4, "low_level_tasks": ["Pick up the Duster handed by the human.", "Clean the specific section of the Shelf indicated by the human with the Duster.", "Clean the specific section of the Shelf indicated by the human with the Duster.", "Clean the specific section of the Shelf indicated by the human with the Duster.", "Hand the Duster back to the human."], "instruction_key": "high_level_instruction", "sid": "S6217", "sub_episode_idx": 0, "high_level_instruction": "Clean the shelf.", "low_level_instruction": "Pick up the Duster handed by the human.", "unit_name": "ds-teleop-0001-05", "task_status": "success"}
+{"episode_index": 25, "tasks": ["Perform cable management."], "length": 563, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260421/1071/10/09/00"], "task_index": 18, "low_level_tasks": ["When the cord part of the Power Cable appears at the lower middle area of the table and stops, grasp the cord part of the Power Cable.", "Pull the grasped Power Cable to the location of the Power Strip.", "Release the Power Cable when the human grasps it."], "instruction_key": "high_level_instruction", "sid": "S6759", "sub_episode_idx": 0, "high_level_instruction": "Perform cable management.", "low_level_instruction": "When the cord part of the Power Cable appears at the lower middle area of the table and stops, grasp the cord part of the Power Cable.", "unit_name": "ds-teleop-0001-04", "task_status": "success"}
+{"episode_index": 26, "tasks": ["Sort the towels based on their folding style."], "length": 541, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260422/1014/00/19/00"], "task_index": 5, "low_level_tasks": ["Pick up one triangle-folded towel and place it in the left Fabric basket.", "Pick up another triangle-folded towel from the table and place it in the left Fabric basket."], "instruction_key": "high_level_instruction", "sid": "S8972", "sub_episode_idx": 0, "high_level_instruction": "Sort the towels based on their folding style.", "low_level_instruction": "Pick up one triangle-folded towel and place it in the left Fabric basket.", "unit_name": "ds-teleop-0001-04", "task_status": "success"}
+{"episode_index": 27, "tasks": ["Efficiently arrange items inside the basket to fit them all."], "length": 509, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260422/1029/02/48/00"], "task_index": 52, "low_level_tasks": ["Pick up the Digital clock and place it inside the Organizing basket.", "Pick up the Stapler and place it inside the Organizing basket.", "Pick up the Reusable plastic cup and place it inside the Organizing basket."], "instruction_key": "high_level_instruction", "sid": "S6712", "sub_episode_idx": 0, "high_level_instruction": "Efficiently arrange items inside the basket to fit them all.", "low_level_instruction": "Pick up the Digital clock and place it inside the Organizing basket.", "unit_name": "ds-teleop-0001-05", "task_status": "success"}
+{"episode_index": 28, "tasks": ["Stack the cups and store them in the basket."], "length": 673, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260422/1067/03/36/00"], "task_index": 45, "low_level_tasks": ["Pick up two Reusable plastic cups , one in each hand.", "Place the stack of Reusable plastic cups into the Pantry Basket.", "Place the stack of Reusable plastic cups into the Pantry Basket."], "instruction_key": "high_level_instruction", "sid": "S6418", "sub_episode_idx": 0, "high_level_instruction": "Stack the cups and store them in the basket.", "low_level_instruction": "Pick up two Reusable plastic cups , one in each hand.", "unit_name": "ds-teleop-0001-05", "task_status": "success"}
+{"episode_index": 29, "tasks": ["Organize and store the cables."], "length": 1063, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260423/1035/02/01/00"], "task_index": 23, "low_level_tasks": ["Place the Power Cable into the Organizing box.", "Place the Power Cable into the Organizing box.", "Place the USB Extension Cable into the Organizing box.", "Place the USB Extension Cable into the Organizing box."], "instruction_key": "high_level_instruction", "sid": "S6758", "sub_episode_idx": 0, "high_level_instruction": "Organize and store the cables.", "low_level_instruction": "Place the Power Cable into the Organizing box.", "unit_name": "ds-teleop-0001-03", "task_status": "success"}
+{"episode_index": 30, "tasks": ["Inspect the PCB."], "length": 421, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260424/1035/00/15/00"], "task_index": 13, "low_level_tasks": ["Pick up the Blank PCB and present it to the human.", "Release the Blank PCB you were holding.", "Pick up the Blank PCB that the human is holding.", "Place the Blank PCB in the ESD tray."], "instruction_key": "high_level_instruction", "sid": "S6760", "sub_episode_idx": 0, "high_level_instruction": "Inspect the PCB.", "low_level_instruction": "Pick up the Blank PCB and present it to the human.", "unit_name": "ds-teleop-0001-03", "task_status": "success"}
+{"episode_index": 31, "tasks": ["Fold the towel."], "length": 571, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260427/1035/01/03/00"], "task_index": 20, "low_level_tasks": ["Grab the top end of the 100 cm Hotel Towel extended by the human.", "Release the end of the 100 cm Hotel Towel you were holding and grab the top end of the folded side.", "Release the end of the 100 cm Hotel Towel you were holding.", "Pick up the 100 cm Hotel Towel and place it on the left side of the table."], "instruction_key": "high_level_instruction", "sid": "S8975", "sub_episode_idx": 0, "high_level_instruction": "Fold the towel.", "low_level_instruction": "Grab the top end of the 100 cm Hotel Towel extended by the human.", "unit_name": "ds-teleop-0001-03", "task_status": "success"}
+{"episode_index": 32, "tasks": ["Clean and organize the cups into the basket."], "length": 682, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260428/1014/03/14/00"], "task_index": 8, "low_level_tasks": ["Pick up the Organizing basket and move it to the center of the table, then pick up the Reusable plastic cup from the right side of the table and place it inside the Organizing basket.", "Pick up the Reusable plastic cup from the right side of the table and stack it inside the Organizing basket in the center of the table.", "Pick up the Reusable plastic cup from the right side of the table and stack it inside the Organizing basket in the center of the table.", "Move the Organizing basket back to the left side of the table."], "instruction_key": "high_level_instruction", "sid": "S6435", "sub_episode_idx": 0, "high_level_instruction": "Clean and organize the cups into the basket.", "low_level_instruction": "Pick up the Organizing basket and move it to the center of the table, then pick up the Reusable plastic cup from the right side of the table and place it inside the Organizing basket.", "unit_name": "ds-teleop-0001-04", "task_status": "success"}
+{"episode_index": 33, "tasks": ["Place the items the person wants into the basket."], "length": 630, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260428/1014/06/13/00"], "task_index": 31, "low_level_tasks": ["Pick up the item the person points to and place it in the Market Basket.", "Pick up the item the person points to and place it in the Market Basket.", "Pick up the item the person points to and place it in the Market Basket."], "instruction_key": "high_level_instruction", "sid": "S9347", "sub_episode_idx": 0, "high_level_instruction": "Place the items the person wants into the basket.", "low_level_instruction": "Pick up the item the person points to and place it in the Market Basket.", "unit_name": "ds-teleop-0001-04", "task_status": "success"}
+{"episode_index": 34, "tasks": ["Place the shoes on the stand as instructed by the person."], "length": 387, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260428/1035/09/10/00"], "task_index": 10, "low_level_tasks": ["Pick up one pair of Shoes and place it on the Shoes Stand indicated by the person.", "Pick up another pair of Shoes and place it on the Shoes Stand indicated by the person."], "instruction_key": "high_level_instruction", "sid": "S8971", "sub_episode_idx": 0, "high_level_instruction": "Place the shoes on the stand as instructed by the person.", "low_level_instruction": "Pick up one pair of Shoes and place it on the Shoes Stand indicated by the person.", "unit_name": "ds-teleop-0001-03", "task_status": "success"}
+{"episode_index": 35, "tasks": ["Sort the A4 documents."], "length": 792, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260428/1095/00/52/00"], "task_index": 19, "low_level_tasks": ["Receive the A4 Paper.", "Place the A4 Paper in the designated Handle tray.", "Receive the A4 Paper.", "Place the A4 Paper in the designated Handle tray.", "Receive the A4 Paper.", "Place the A4 Paper in the designated Handle tray.", "Receive the A4 Paper.", "Place the A4 Paper in the designated Handle tray."], "instruction_key": "high_level_instruction", "sid": "S5657", "sub_episode_idx": 0, "high_level_instruction": "Sort the A4 documents.", "low_level_instruction": "Receive the A4 Paper.", "unit_name": "ds-teleop-0001-04", "task_status": "success"}
+{"episode_index": 36, "tasks": ["Prepare the solutions needed for the experiment."], "length": 637, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260428/1096/00/105/00"], "task_index": 1, "low_level_tasks": ["Pick up the Plastic Funnel and insert it into the Big flask.", "Once the solution is in the Big flask , pick up the Plastic Funnel and place it back into the right Organizing basket.", "When the human places the Big flask in the center of the table, pick up the Big flask and place it in the left Organizing basket."], "instruction_key": "high_level_instruction", "sid": "S6297", "sub_episode_idx": 0, "high_level_instruction": "Prepare the solutions needed for the experiment.", "low_level_instruction": "Pick up the Plastic Funnel and insert it into the Big flask.", "unit_name": "ds-teleop-0001-03", "task_status": "success"}
+{"episode_index": 37, "tasks": ["Fill the beverage cans into the dispenser."], "length": 791, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260429/1085/01/49/00"], "task_index": 39, "low_level_tasks": ["Pick up the Pepsi coke handed by the human.", "Place the picked Pepsi coke in the line of the Automatic Can Dispenser with the same cans.", "Pick up the Ionic drink handed by the human.", "Place the picked Ionic drink in the line of the Automatic Can Dispenser with the same cans.", "Pick up the Sprite handed by the human.", "Place the picked Sprite in the line of the Automatic Can Dispenser with the same cans."], "instruction_key": "high_level_instruction", "sid": "S9242", "sub_episode_idx": 0, "high_level_instruction": "Fill the beverage cans into the dispenser.", "low_level_instruction": "Pick up the Pepsi coke handed by the human.", "unit_name": "ds-teleop-0001-02", "task_status": "success"}
+{"episode_index": 38, "tasks": ["Fold the towels and place them in the basket."], "length": 1005, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260429/1093/00/28/00"], "task_index": 33, "low_level_tasks": ["When a person lays out a Towel with hook on the table, fold it in half twice.", "Place the folded Towel with hook on the right side of the table.", "When a person lays out a Towel with hook on the table, fold it in half twice.", "Stack the folded Towel with hook on the right side of the table."], "instruction_key": "high_level_instruction", "sid": "S5780", "sub_episode_idx": 0, "high_level_instruction": "Fold the towels and place them in the basket.", "low_level_instruction": "When a person lays out a Towel with hook on the table, fold it in half twice.", "unit_name": "ds-teleop-0001-03", "task_status": "success"}
+{"episode_index": 39, "tasks": ["Sort and store the cups by type."], "length": 465, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260429/1096/22/65/00"], "task_index": 29, "low_level_tasks": ["Pick up the Reusable plastic cup.", "Place the picked Reusable plastic cup into the Flat Tray indicated by the person.", "Pick up the Handle plastic cup and place it into the empty Flat Tray."], "instruction_key": "high_level_instruction", "sid": "S9240", "sub_episode_idx": 0, "high_level_instruction": "Sort and store the cups by type.", "low_level_instruction": "Pick up the Reusable plastic cup.", "unit_name": "ds-teleop-0001-03", "task_status": "success"}
+{"episode_index": 40, "tasks": ["Place the bread into the airtight container."], "length": 380, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260430/1035/03/46/00"], "task_index": 37, "low_level_tasks": ["Pick up a Butter Roll and place it into an empty Airtight Container.", "Pick up a Butter Roll and place it into an empty Airtight Container."], "instruction_key": "high_level_instruction", "sid": "S8791", "sub_episode_idx": 0, "high_level_instruction": "Place the bread into the airtight container.", "low_level_instruction": "Pick up a Butter Roll and place it into an empty Airtight Container.", "unit_name": "ds-teleop-0001-03", "task_status": "success"}
+{"episode_index": 41, "tasks": ["Place the drinks into the Shopping basket."], "length": 952, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260430/1096/73/08/00"], "task_index": 6, "low_level_tasks": ["Pick up one drink and place it into the Shopping basket.", "Pick up one drink and place it into the Shopping basket.", "Pick up one drink and place it into the Shopping basket.", "Pick up one drink and place it into the Shopping basket."], "instruction_key": "high_level_instruction", "sid": "S9348", "sub_episode_idx": 0, "high_level_instruction": "Place the drinks into the Shopping basket.", "low_level_instruction": "Pick up one drink and place it into the Shopping basket.", "unit_name": "ds-teleop-0001-03", "task_status": "success"}
+{"episode_index": 42, "tasks": ["Organize the cables according to human instructions."], "length": 615, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260519/1102/04/01/00"], "task_index": 26, "low_level_tasks": ["Pick up a bundle of cables and place it in the basket indicated by the human.", "Pick up a bundle of cables and place it in the basket indicated by the human.", "Pick up a bundle of cables and place it in the basket indicated by the human.", "Pick up a bundle of cables and place it in the basket indicated by the human."], "instruction_key": "high_level_instruction", "sid": "S6755", "sub_episode_idx": 0, "high_level_instruction": "Organize the cables according to human instructions.", "low_level_instruction": "Pick up a bundle of cables and place it in the basket indicated by the human.", "unit_name": "ds-teleop-0001-05", "task_status": "success"}
+{"episode_index": 43, "tasks": ["Pack the shoes into the box."], "length": 712, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260526/1102/01/54/00"], "task_index": 22, "low_level_tasks": ["Place one shoe of the Shoes into the Shoes Box.", "Place the other shoe of the Shoes into the Shoes Box.", "Close the Shoes Box.", "Press down on the lid of the Shoes Box."], "instruction_key": "high_level_instruction", "sid": "S9241", "sub_episode_idx": 0, "high_level_instruction": "Pack the shoes into the box.", "low_level_instruction": "Place one shoe of the Shoes into the Shoes Box.", "unit_name": "ds-teleop-0001-05", "task_status": "success"}
+{"episode_index": 44, "tasks": ["Sort the paper based on its condition."], "length": 820, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260528/1085/07/36/00"], "task_index": 40, "low_level_tasks": ["If a person hands you a paper, place it in the Organizing basket , and if it's crumpled, put it in the Trash can.", "If a person hands you a paper, place it in the Organizing basket , and if it's crumpled, put it in the Trash can.", "If a person hands you a paper, place it in the Organizing basket , and if it's crumpled, put it in the Trash can."], "instruction_key": "high_level_instruction", "sid": "S5425", "sub_episode_idx": 0, "high_level_instruction": "Sort the paper based on its condition.", "low_level_instruction": "If a person hands you a paper, place it in the Organizing basket , and if it's crumpled, put it in the Trash can.", "unit_name": "ds-teleop-0001-04", "task_status": "success"}
+{"episode_index": 45, "tasks": ["Distribute the coffee onto the tray."], "length": 328, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260529/1102/06/12/00"], "task_index": 0, "low_level_tasks": ["Pick up one iced Americano and place it on the right Handle tray.", "Pick up another iced Americano from the middle of the table and place it on the right Handle tray."], "instruction_key": "high_level_instruction", "sid": "S7791", "sub_episode_idx": 0, "high_level_instruction": "Distribute the coffee onto the tray.", "low_level_instruction": "Pick up one iced Americano and place it on the right Handle tray.", "unit_name": "ds-teleop-0001-04", "task_status": "success"}
+{"episode_index": 46, "tasks": ["Fold the training pants."], "length": 818, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260602/1102/02/40/00"], "task_index": 50, "low_level_tasks": ["Grab both ends of the Training pants handed by a person.", "Release the ends of the Training pants and then grab the overlapped ends.", "Fold the Training pants in half."], "instruction_key": "high_level_instruction", "sid": "S10048", "sub_episode_idx": 0, "high_level_instruction": "Fold the training pants.", "low_level_instruction": "Grab both ends of the Training pants handed by a person.", "unit_name": "ds-teleop-0001-04", "task_status": "success"}
+{"episode_index": 47, "tasks": ["Retrieve and store the cans from the dispenser."], "length": 539, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260608/1029/02/37/00"], "task_index": 43, "low_level_tasks": ["Pick up one can from the Automatic Can Dispenser and place it in the middle of the table.", "Pick up the last remaining can from one row of the Automatic Can Dispenser and place it in the middle of the table.", "Pick up one can from the Automatic Can Dispenser and place it in the middle of the table.", "Pick up one can from the Automatic Can Dispenser and place it in the middle of the table."], "instruction_key": "high_level_instruction", "sid": "S7065", "sub_episode_idx": 0, "high_level_instruction": "Retrieve and store the cans from the dispenser.", "low_level_instruction": "Pick up one can from the Automatic Can Dispenser and place it in the middle of the table.", "unit_name": "ds-teleop-0001-05", "task_status": "success"}
+{"episode_index": 48, "tasks": ["Distribute items into two baskets."], "length": 613, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260617/1054/04/13/00"], "task_index": 2, "low_level_tasks": ["Pick up the Pencil pouch that the person points to.", "Move the picked Pencil pouch towards the Organizing basket indicated by the person, stopping as directed.", "Place the picked Pencil pouch into the Organizing basket as instructed by the person.", "Pick up the Stapler that the person points to.", "Place the picked Stapler into the Organizing basket as instructed by the person."], "instruction_key": "high_level_instruction", "sid": "S6557", "sub_episode_idx": 0, "high_level_instruction": "Distribute items into two baskets.", "low_level_instruction": "Pick up the Pencil pouch that the person points to.", "unit_name": "ds-teleop-0001-05", "task_status": "success"}
+{"episode_index": 49, "tasks": ["Prepare the laboratory tools."], "length": 455, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260617/1085/00/07/00"], "task_index": 14, "low_level_tasks": ["Pick up one Large Measuring Cup and place it on the Handle tray.", "Pick up one Small flask and place it on the Handle tray."], "instruction_key": "high_level_instruction", "sid": "S6287", "sub_episode_idx": 0, "high_level_instruction": "Prepare the laboratory tools.", "low_level_instruction": "Pick up one Large Measuring Cup and place it on the Handle tray.", "unit_name": "ds-teleop-0001-05", "task_status": "success"}
+{"episode_index": 50, "tasks": ["Sort PCBs into racks and boxes based on the side picked up."], "length": 531, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260618/1054/01/13/00"], "task_index": 53, "low_level_tasks": ["Pick up the Blank PCB handed by the Human.", "If the short side of the Blank PCB is picked up, insert it into the PCB Rack ; if the long side is picked up, place it in the Organizing box.", "Pick up the Blank PCB handed by the Human.", "If the short side of the Blank PCB is picked up, insert it into the PCB Rack ; if the long side is picked up, place it in the Organizing box."], "instruction_key": "high_level_instruction", "sid": "S6754", "sub_episode_idx": 0, "high_level_instruction": "Sort PCBs into racks and boxes based on the side picked up.", "low_level_instruction": "Pick up the Blank PCB handed by the Human.", "unit_name": "ds-teleop-0001-05", "task_status": "success"}
+{"episode_index": 51, "tasks": ["Retrieve and hand over the desired beverage to the person."], "length": 723, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260618/1054/06/28/00"], "task_index": 49, "low_level_tasks": ["Pick up a can of the same type that the person held from the Automatic Can Dispenser.", "Place the picked can on the Handle tray extended by the person.", "Pick up another can of the same type that the person held from the Automatic Can Dispenser.", "Place the picked can on the Handle tray extended by the person."], "instruction_key": "high_level_instruction", "sid": "S7045", "sub_episode_idx": 0, "high_level_instruction": "Retrieve and hand over the desired beverage to the person.", "low_level_instruction": "Pick up a can of the same type that the person held from the Automatic Can Dispenser.", "unit_name": "ds-teleop-0001-04", "task_status": "success"}
+{"episode_index": 52, "tasks": ["Inspect and transfer BCBs to ESD trays."], "length": 872, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260619/1054/05/40/00"], "task_index": 51, "low_level_tasks": ["Pick up the Blank PCB from the PCB Rack and place it in the left ESD tray.", "Pick up the ESD tray and place it on the left side of the table.", "Pick up the Blank PCB from the PCB Rack and place it in the right ESD tray.", "Pick up the ESD tray and place it on the left side of the table."], "instruction_key": "high_level_instruction", "sid": "S6757", "sub_episode_idx": 0, "high_level_instruction": "Inspect and transfer BCBs to ESD trays.", "low_level_instruction": "Pick up the Blank PCB from the PCB Rack and place it in the left ESD tray.", "unit_name": "ds-teleop-0001-04", "task_status": "success"}
+{"episode_index": 53, "tasks": ["Sort the tops and bottoms."], "length": 916, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260619/1094/02/06/00"], "task_index": 41, "low_level_tasks": ["Lift clothes from the center of the table with your left hand.", "Sort the clothes according to human instructions.", "Lift clothes from the center of the table with your right hand.", "Sort the clothes according to human instructions.", "Lift clothes from the center of the table with your left hand.", "Sort the clothes according to human instructions.", "Lift clothes from the center of the table with your right hand.", "Sort the clothes according to human instructions."], "instruction_key": "high_level_instruction", "sid": "S5334", "sub_episode_idx": 0, "high_level_instruction": "Sort the tops and bottoms.", "low_level_instruction": "Lift clothes from the center of the table with your left hand.", "unit_name": "ds-teleop-0001-04", "task_status": "success"}
+{"episode_index": 54, "tasks": ["Pour the drink into the iced cup."], "length": 592, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260622/1094/15/03/00"], "task_index": 44, "low_level_tasks": ["Pick up the iced cup indicated by the human and present it to them.", "Open the gripper to release the iced cup you were holding.", "Pick up the iced cup indicated by the human and present it to them.", "Open the gripper to release the iced cup you were holding."], "instruction_key": "high_level_instruction", "sid": "S7788", "sub_episode_idx": 0, "high_level_instruction": "Pour the drink into the iced cup.", "low_level_instruction": "Pick up the iced cup indicated by the human and present it to them.", "unit_name": "ds-teleop-0001-04", "task_status": "success"}
+{"episode_index": 55, "tasks": ["Place the bread in airtight containers."], "length": 638, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260622/1094/21/03/00"], "task_index": 46, "low_level_tasks": ["Lift both Airtight Container.", "Once an object is inside an Airtight Container , place the container in the center of the table.", "Once an object is inside an Airtight Container , place the container in the center of the table.", "Pick up one Airtight Container lid and hand it to the human.", "Release when the human grabs the Airtight Container lid.", "Pick up one Airtight Container lid and hand it to the human.", "Release when the human grabs the Airtight Container lid."], "instruction_key": "high_level_instruction", "sid": "S8940", "sub_episode_idx": 0, "high_level_instruction": "Place the bread in airtight containers.", "low_level_instruction": "Lift both Airtight Container.", "unit_name": "ds-teleop-0001-04", "task_status": "success"}
+{"episode_index": 56, "tasks": ["Place the pens into the pen holder."], "length": 305, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260623/1094/01/33/00"], "task_index": 57, "low_level_tasks": ["Pick up a writing instrument from the table and place it into the Pen holder.", "Pick up a writing instrument from the table and place it into the Pen holder.", "Pick up a writing instrument from the table and place it into the Pen holder."], "instruction_key": "high_level_instruction", "sid": "S5970", "sub_episode_idx": 0, "high_level_instruction": "Place the pens into the pen holder.", "low_level_instruction": "Pick up a writing instrument from the table and place it into the Pen holder.", "unit_name": "ds-teleop-0001-04", "task_status": "success"}
+{"episode_index": 57, "tasks": ["Prepare the laboratory tools."], "length": 513, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260623/1095/02/07/00"], "task_index": 14, "low_level_tasks": ["Pick up the Big flask that the person points to.", "While moving the picked Big flask to the Handle tray indicated by the person, stop as directed by the person.", "Place the picked Big flask upright in the Handle tray as instructed by the person.", "Pick up the Big flask that the person points to.", "Place the picked Big flask upright in the Handle tray as directed by the person."], "instruction_key": "high_level_instruction", "sid": "S6221", "sub_episode_idx": 0, "high_level_instruction": "Prepare the laboratory tools.", "low_level_instruction": "Pick up the Big flask that the person points to.", "unit_name": "ds-teleop-0001-04", "task_status": "success"}
+{"episode_index": 58, "tasks": ["Organize the shoes by placing them on the stand."], "length": 931, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260624/1029/01/17/00"], "task_index": 54, "low_level_tasks": ["Pick up one Shoe and place it in the middle of the table.", "Place the Shoe from the middle of the table onto the Shoes Stand.", "Pick up one Shoe and place it in the middle of the table.", "Place the Shoe from the middle of the table onto the Shoes Stand.", "Pick up one Shoe and place it in the middle of the table.", "Place the Shoe from the middle of the table onto the Shoes Stand.", "Pick up one Shoe and place it in the middle of the table.", "Place the Shoe from the middle of the table onto the Shoes Stand."], "instruction_key": "high_level_instruction", "sid": "S8973", "sub_episode_idx": 0, "high_level_instruction": "Organize the shoes by placing them on the stand.", "low_level_instruction": "Pick up one Shoe and place it in the middle of the table.", "unit_name": "ds-teleop-0001-05", "task_status": "success"}
+{"episode_index": 59, "tasks": ["Transfer purchased items from the store into the shopping bag."], "length": 565, "input_key": ["1.5.28-teleop-hrc-policy-unsplit-fps-10-260503", "postprocessor/1.9.1/data/1.5.28-teleop-hrc-policy-unsplit-fps-10-260503/260624/1094/05/30/00"], "task_index": 38, "low_level_tasks": ["Open the Reusable shopping bag in the center of the table.", "Move the Reusable shopping bag to the right side of the table."], "instruction_key": "high_level_instruction", "sid": "S5243", "sub_episode_idx": 0, "high_level_instruction": "Transfer purchased items from the store into the shopping bag.", "low_level_instruction": "Open the Reusable shopping bag in the center of the table.", "unit_name": "ds-teleop-0001-04", "task_status": "success"}
diff --git a/sample/meta/human_subtasks.jsonl b/sample/meta/human_subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8f3a6a8322807a11f049b4320841b2f61a351976
--- /dev/null
+++ b/sample/meta/human_subtasks.jsonl
@@ -0,0 +1,178 @@
+{"task_index": 0, "task": "Pick up a cup of hot Americano and place it on the right tray."}
+{"task_index": 1, "task": "Pick up a cup of hot Americano from the middle of the table and place it on the right tray."}
+{"task_index": 2, "task": "Pick up the beaker and the cylinder and move to the middle of the robot table."}
+{"task_index": 3, "task": "Pour the solution from the beaker and the cylinder into the flask."}
+{"task_index": 4, "task": "Place the beaker and the cylinder into the organizing basket on the left side."}
+{"task_index": 5, "task": "Pick up the flask, gently shake it 2–3 times, place it in the middle of the robot table, and close the lid."}
+{"task_index": 6, "task": "Pick up the organizing basket on the left side of the robot table and place it on the left side of the human table."}
+{"task_index": 7, "task": "Points to the pencil case."}
+{"task_index": 8, "task": "Points between the two organizing baskets and instructs the robot to move the pencil case."}
+{"task_index": 9, "task": "Sends a stop gesture before the robot places the pencil case into the basket."}
+{"task_index": 10, "task": "Instructs the robot to place the pencil case into the opposite basket."}
+{"task_index": 11, "task": "Points to the stapler."}
+{"task_index": 12, "task": "Points to the basket that does not contain the pencil case and instructs the robot to move the stapler there."}
+{"task_index": 13, "task": "The human places all items except the paper tape into the organizing basket."}
+{"task_index": 14, "task": "The human picks up the organizing basket and places the organizing basket into the package box on the robot table."}
+{"task_index": 15, "task": "The human closes the box and rotates the box by 90 degrees."}
+{"task_index": 16, "task": "The human picks up the paper tape from the human table and packs the box."}
+{"task_index": 17, "task": "Hand the Duster to the robot."}
+{"task_index": 18, "task": "Lift the objects on a randomly selected tier of the Shelf."}
+{"task_index": 19, "task": "Once the robot finishes cleaning, lift the objects on the remaining tiers of the Shelf."}
+{"task_index": 20, "task": "Receive the Duster from the robot."}
+{"task_index": 21, "task": "Pick up one hotel-style rolled towel and place it in the left fabric basket."}
+{"task_index": 22, "task": "Pick up one hotel-style rolled towel from the table and place it in the left fabric basket."}
+{"task_index": 23, "task": "Take a drink from the Market Basket , and place it on middle of the table."}
+{"task_index": 24, "task": "Stand in front of the robot table holding the tray containing the donuts."}
+{"task_index": 25, "task": "Place one donut into the to-go box held by the robot."}
+{"task_index": 26, "task": "Place the tray down in the middle of the human table."}
+{"task_index": 27, "task": "Picks up a cup and a towel, cleans the cup with the towel, and places it on the left side of the robot table."}
+{"task_index": 28, "task": "Picks up a cup from the drying rack, cleans the cup with the towel, and places it on the left side of the robot table."}
+{"task_index": 29, "task": "Folds the towel in half twice and places it in the right of the table."}
+{"task_index": 30, "task": "Pick up a plush toy from the table and place it in a plastic storage basket."}
+{"task_index": 31, "task": "Pick up a plush toy from the table and place it in the plastic storage basket containing the plush toy."}
+{"task_index": 32, "task": "Point to one Shoes Stand."}
+{"task_index": 33, "task": "Wrap the two Digital clocks with Bubble Wrap."}
+{"task_index": 34, "task": "Place the wrapped Digital clocks inside the Package Box."}
+{"task_index": 35, "task": "Hold the top and bottom flaps of the Package Box closed with your left (or right) hand."}
+{"task_index": 36, "task": "Once the robot closes the right flap of the Package Box , release your left hand from the box."}
+{"task_index": 37, "task": "Once the robot closes the left flap of the Package Box , seal the box with Paper Tape."}
+{"task_index": 38, "task": "Place sealed Package Box in the middle of the human's table."}
+{"task_index": 39, "task": "Point to a Digital clock."}
+{"task_index": 40, "task": "Pick up the PCB presented by the robot."}
+{"task_index": 41, "task": "Inspect the PCB placed by the robot, then hold it out in front of the robot."}
+{"task_index": 42, "task": "Release the PCB you were holding."}
+{"task_index": 43, "task": "Record the PCB status on the paper."}
+{"task_index": 44, "task": "Points to one of the two flasks."}
+{"task_index": 45, "task": "Instructs the robot to move the picked-up flask to the tray."}
+{"task_index": 46, "task": "Makes a stop hand signal before the robot places the flask down."}
+{"task_index": 47, "task": "Instructs the robot to place the flask upright on the tray."}
+{"task_index": 48, "task": "Points to the flask in the basket."}
+{"task_index": 49, "task": "A person randomly selects and points to an Airtight Container."}
+{"task_index": 50, "task": "Points to one of the two cloth baskets."}
+{"task_index": 51, "task": "Hand the Lint Roller to the robot so it can easily pick it up."}
+{"task_index": 52, "task": "Lift the Dish drying rack."}
+{"task_index": 53, "task": "Place the Dish drying rack down when the robot finishes cleaning."}
+{"task_index": 54, "task": "Pass the Power Cable under the Serving Table."}
+{"task_index": 55, "task": "Grasp the Power Cable when the robot holds it and stops moving to the left of the robot table."}
+{"task_index": 56, "task": "Plug the Power Cable into the Power Strip."}
+{"task_index": 57, "task": "Pick up a sheet of paper from the center of the table and hand it to the robot."}
+{"task_index": 58, "task": "Point the randomly selected tray with the other hand."}
+{"task_index": 59, "task": "Pick up the laundry basket, place it on the left side of the robot table, then take out a towel and hand it to the robot while holding both corners of one end."}
+{"task_index": 60, "task": "Using the point held by the robot as a reference, grasp the opposite end, fold the towel in half, and then hold both ends of the folded towel."}
+{"task_index": 61, "task": "Place the towel at the center of the robot table and fold it in half."}
+{"task_index": 62, "task": "Pick up the laundry basket and place it at the center of the human table."}
+{"task_index": 63, "task": "Pick up one donut with tongs, place it in the donut tray, and then place the donut tray on the flat tray."}
+{"task_index": 64, "task": "Spread Shoes Wrapping Paper and place inside the Shoes Box."}
+{"task_index": 65, "task": "Pack a shoe of Shoes inside the Shoes Box with Shoes Wrapping Paper."}
+{"task_index": 66, "task": "Place the closed Shoes Box to the right side of the human table."}
+{"task_index": 67, "task": "Tie one Power Cable with a Reusable Cable Tie."}
+{"task_index": 68, "task": "Tie one USB Extension Cable with a Reusable Cable Tie."}
+{"task_index": 69, "task": "Pick up the storage basket and place it on the left side of the robot table."}
+{"task_index": 70, "task": "Pick up can-shaped waste one by one and place it into the organizing box lifted by the robot."}
+{"task_index": 71, "task": "Pick up the organizing box extended by the robot."}
+{"task_index": 72, "task": "Place it at the edge of the bottom right area of the robot table."}
+{"task_index": 73, "task": "Pick up plastic waste one by one and place it into the organizing box lifted by the robot."}
+{"task_index": 74, "task": "Place the organizing box to the left of the sorting box containing the can waste."}
+{"task_index": 75, "task": "Place the Glasses inside the Glasses case."}
+{"task_index": 76, "task": "Position the Glasses case on the left side of the robot's table."}
+{"task_index": 77, "task": "Position the empty Package Box in the middle of the robot's table."}
+{"task_index": 78, "task": "Point to one Storage basket."}
+{"task_index": 79, "task": "Indicate the left or right side of the table."}
+{"task_index": 80, "task": "Hand the Duster to the robot with your right (or left) hand."}
+{"task_index": 81, "task": "Clean a randomly selected level of the Shelf with the Duster."}
+{"task_index": 82, "task": "Points to the reusable cup."}
+{"task_index": 83, "task": "Point to one of the two trays."}
+{"task_index": 84, "task": "Points to the cup with a handle."}
+{"task_index": 85, "task": "Press and pick up the Filter Brewing."}
+{"task_index": 86, "task": "Pour the drink from the Filter Brewing into the 600 ml Paper Cup."}
+{"task_index": 87, "task": "Place a Paper Cup Lid on the 600 ml Paper Cup."}
+{"task_index": 88, "task": "Pick up the Filter Brewing and place on the middle of Human table, and return to the Robot table."}
+{"task_index": 89, "task": "Place the Cup Carrier to the middle of Human table."}
+{"task_index": 90, "task": "Point to one object on the table (excluding the basket)."}
+{"task_index": 91, "task": "The human picks up the top napkin from the stack on the human table and walks to the robot table to stand in front of one of the two trays."}
+{"task_index": 92, "task": "When the robot lifts the bowl and the cup, the human unfolds the napkin and lays the napkin flat on the tray."}
+{"task_index": 93, "task": "The human returns to the human table to pick up another napkin and walks to the robot table to stand in front of the tray without a napkin."}
+{"task_index": 94, "task": "Pick up the basket, pour the towels onto the left side of the human table, and place the basket on the right side."}
+{"task_index": 95, "task": "Pick up one towel and spread it out at the center of the robot table."}
+{"task_index": 96, "task": "Pick up one towel from the left side of the human table, fold it in half twice, and place it on the right side of the table."}
+{"task_index": 97, "task": "Pick up one towel from the left side of the human table, fold it in half twice, and stack it on the right side of the table."}
+{"task_index": 98, "task": "Pick up one towel from the left side of the human table and spread it out at the center of the robot table."}
+{"task_index": 99, "task": "Pick up the stack of towels from the right side of the human table, place it into the basket, and put the basket at the center of the table."}
+{"task_index": 100, "task": "Pick up the stack of towels from the robot table and place it into the basket."}
+{"task_index": 101, "task": "Pick up the left (or right) Handle tray and place it on the middle of the Human's table."}
+{"task_index": 102, "task": "Use the Towel with hook to wipe the Plastic Matte Plate , Fork , and Knife and place into the Dish drying rack."}
+{"task_index": 103, "task": "Pick up the left (or right) Handle tray and place it on the Handle tray."}
+{"task_index": 104, "task": "Point a random section of the Shelf."}
+{"task_index": 105, "task": "Point a remaining section of the Shelf."}
+{"task_index": 106, "task": "Place one coaster in any one of the three lower areas of the robot table (left, center, or right)."}
+{"task_index": 107, "task": "Place one coaster in one of the two areas excluding the previously selected area."}
+{"task_index": 108, "task": "Place one coaster in the only remaining area."}
+{"task_index": 109, "task": "Point to one donut."}
+{"task_index": 110, "task": "Lift the tray onto the Roll-Top Bakery Case."}
+{"task_index": 111, "task": "Place the tray in the middle of the human table."}
+{"task_index": 112, "task": "Once a Butter Roll is inside an Airtight Container , close the lid of that Airtight Container."}
+{"task_index": 113, "task": "Pick up the shopping bag and place it in the middle of the robot table."}
+{"task_index": 114, "task": "Pick up the basket on the right, place it on the left side of the robot table, and move the items in the basket to the shopping bag."}
+{"task_index": 115, "task": "Pick up the basket with the items out and place it on the right side of the human table."}
+{"task_index": 116, "task": "Move the basket on the left to the middle of the person's table."}
+{"task_index": 117, "task": "Pick up the pantry basket and stand in front of the robot table."}
+{"task_index": 118, "task": "Pick up the Pepsi can and hand it to the robot."}
+{"task_index": 119, "task": "Release the Pepsi can you were holding."}
+{"task_index": 120, "task": "Pick up the Ionic drink can and hand it to the robot."}
+{"task_index": 121, "task": "Release the Ionic drink can you were holding."}
+{"task_index": 122, "task": "Pick up the Sprite can and hand it to the robot."}
+{"task_index": 123, "task": "Release the Sprite can you were holding."}
+{"task_index": 124, "task": "Tear out a page from the spiral notebook."}
+{"task_index": 125, "task": "Hand the torn page to the robot or crumple it and throw it to the center of the table."}
+{"task_index": 126, "task": "Pour the clothes from the basket onto the center of the robot table."}
+{"task_index": 127, "task": "When the robot lifts a piece of clothing, instruct tops to the left and bottoms to the right."}
+{"task_index": 128, "task": "Pick up an object on the table and put it in the box."}
+{"task_index": 129, "task": "Close the lid of the box facing the person."}
+{"task_index": 130, "task": "Pick up the basket and place it on the left side of the robot table."}
+{"task_index": 131, "task": "Pick up one Pepsi can from the middle of the robot table and place it in the basket."}
+{"task_index": 132, "task": "Pick up the basket and place it in the middle of the human table."}
+{"task_index": 133, "task": "Pick up the empty basket and place it on the left side of the robot table."}
+{"task_index": 134, "task": "Pick up one sports drink can from the middle of the robot table and place it in the basket."}
+{"task_index": 135, "task": "Point to one of the two ice cups."}
+{"task_index": 136, "task": "Pick up the cup offered by the robot."}
+{"task_index": 137, "task": "Move the picked-up cup under the dispenser faucet, pour the drink, and place it on the tray on the human table."}
+{"task_index": 138, "task": "Point to the remaining ice cup on the robot table."}
+{"task_index": 139, "task": "Move from the Human Table to the front of the Robot Table."}
+{"task_index": 140, "task": "Stack two of the remaining cups on top of each cup held by the robot."}
+{"task_index": 141, "task": "Pick up the basket from the Human Table, bring it to the front of the robot, and present it."}
+{"task_index": 142, "task": "Place the basket containing the cups in the middle of the Human Table."}
+{"task_index": 143, "task": "Bring the Baking Sheet in front of Robot's Table."}
+{"task_index": 144, "task": "Use the Stainless steel tongs to place one object from Baking Sheet into one Airtight Container."}
+{"task_index": 145, "task": "Place Baking Sheet on the Human's Table."}
+{"task_index": 146, "task": "Grip Airtight Container lid that robot is handing."}
+{"task_index": 147, "task": "Close Airtight Container with a handed Airtight Container lid."}
+{"task_index": 148, "task": "Point at one item on the table (excluding the box)."}
+{"task_index": 149, "task": "Lower both hands vertically with palms facing downward, as if pressing something closed."}
+{"task_index": 150, "task": "Turn the box and lock it."}
+{"task_index": 151, "task": "Points to one piece of trash on the table."}
+{"task_index": 152, "task": "Instructs the robot to place the picked-up trash into the appropriate organizing basket."}
+{"task_index": 153, "task": "Hold the tray and position yourself in front of the robot table."}
+{"task_index": 154, "task": "Pick up one can from the bottom area of the table and puts it back in its original place."}
+{"task_index": 155, "task": "Push the tray toward the robot."}
+{"task_index": 156, "task": "Pull the tray back, then pick up another can from the bottom area of the table and puts it back in its original place."}
+{"task_index": 157, "task": "Push the tray toward the robot again."}
+{"task_index": 158, "task": "Pull the tray back and place it at the center of the human table."}
+{"task_index": 159, "task": "Take the long pants out of the laundry basket, unfold them, fold the waist in half, and extend them so the robot can pick up both corners."}
+{"task_index": 160, "task": "Grasp the end opposite the point the robot is holding, fold the pants in half, and then grasp the overlapping top end of the folded pants."}
+{"task_index": 161, "task": "Release the pants you were holding."}
+{"task_index": 162, "task": "Move the laundry basket to the right of the human table."}
+{"task_index": 163, "task": "Grabs one PCB from the Storage basket; if the PCB is normal, places it in the PCB Rack on the left side of the robot table, and if defective, places it in the Organizing box on the left side of the human table."}
+{"task_index": 164, "task": "Repositions the pencil case."}
+{"task_index": 165, "task": "Repositions the digital clock."}
+{"task_index": 166, "task": "Repositions the stapler."}
+{"task_index": 167, "task": "Pick one PCB from the tray and present it to the robot."}
+{"task_index": 168, "task": "Release the PCB being held."}
+{"task_index": 169, "task": "Pick one Shoe on Robot's table."}
+{"task_index": 170, "task": "Clean the Shoe with the Shoe Brush."}
+{"task_index": 171, "task": "Place the Shoe on left side of the Robot's table."}
+{"task_index": 172, "task": "Pick up one lab tube from the basket and insert it into the tube holder."}
+{"task_index": 173, "task": "The human picks up one piece of trash that is not a can and places the trash into the appropriate organizing basket."}
+{"task_index": 174, "task": "Pick up a can or cup and place it on the tray."}
+{"task_index": 175, "task": "Pick up a can or cup and place it on the tray without a can or cup."}
+{"task_index": 176, "task": "Pick up all writing instruments from the Human table."}
+{"task_index": 177, "task": "Place all writing instrument into the Pen holder."}
diff --git a/sample/meta/info.json b/sample/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8db527f257a88c5ba05828ca5a0a95d5a7fb99b4
--- /dev/null
+++ b/sample/meta/info.json
@@ -0,0 +1,985 @@
+{
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+  "chunks_size": 1000,
+  "fps": 10.0,
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+        "position_1",
+        "position_2",
+        "position_3",
+        "position_4",
+        "position_5",
+        "position_6"
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+      "names": [
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+        "position_1",
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+        "position_5",
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+        "position_5",
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+        "position_8",
+        "position_9",
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+        "position_3",
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+        640,
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+        640,
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+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.human_front_view": {
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+        640,
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+      ],
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+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.left_wrist_view": {
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+        640,
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+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    },
+    "observation.images.right_wrist_view": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "info": {
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+        "video.height": 480,
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+        "video.channels": 3,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "has_audio": false
+      }
+    }
+  }
+}
\ No newline at end of file
diff --git a/sample/meta/modality.json b/sample/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a75f5cd24f7c4ade1bbc0a06be50325c9c6fcd2
--- /dev/null
+++ b/sample/meta/modality.json
@@ -0,0 +1,237 @@
+{
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+            "start": 0,
+            "end": 3,
+            "original_key": "robot0.observation.state.cartesian_position"
+        },
+        "cartesian_position_rot_left": {
+            "start": 3,
+            "end": 6,
+            "rotation_type": "euler_angles_rpy",
+            "original_key": "robot0.observation.state.cartesian_position"
+        },
+        "gripper_position_left": {
+            "start": 0,
+            "end": 1,
+            "original_key": "robot0.observation.state.gripper_position"
+        },
+        "cartesian_position_xyz_right": {
+            "start": 0,
+            "end": 3,
+            "original_key": "robot1.observation.state.cartesian_position"
+        },
+        "cartesian_position_rot_right": {
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+            "end": 6,
+            "rotation_type": "euler_angles_rpy",
+            "original_key": "robot1.observation.state.cartesian_position"
+        },
+        "gripper_position_right": {
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+            "end": 1,
+            "original_key": "robot1.observation.state.gripper_position"
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+            "end": 7,
+            "original_key": "robot1.action.delta_action"
+        },
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+            "end": 7,
+            "original_key": "robot0.action.delta_action"
+        },
+        "target_cartesian_position_left": {
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+            "end": 6,
+            "original_key": "robot0.action.target_cartesian_position"
+        },
+        "target_gripper_position_left": {
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+            "end": 1,
+            "original_key": "robot0.action.target_gripper_position"
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+        "target_cartesian_position_right": {
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+            "end": 6,
+            "original_key": "robot1.action.target_cartesian_position"
+        },
+        "target_gripper_position_right": {
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+            "end": 1,
+            "original_key": "robot1.action.target_gripper_position"
+        }
+    },
+    "action": {
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+        "gripper_position_delta_left": {
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+            "absolute": false,
+            "original_key": "robot0.action.gripper_position_delta"
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+            "original_key": "robot0.action.delta_action"
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+        "gripper_velocity_left": {
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+            "end": 1,
+            "original_key": "robot0.action.gripper_velocity"
+        },
+        "gripper_velocity_delta_left": {
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+            "absolute": false,
+            "original_key": "robot0.action.gripper_velocity_delta"
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+            "original_key": "robot0.action.delta_action_delta"
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+        "cartesian_velocity_left": {
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+            "end": 6,
+            "original_key": "robot0.action.cartesian_velocity"
+        },
+        "cartesian_velocity_delta_left": {
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+            "absolute": false,
+            "original_key": "robot0.action.cartesian_velocity_delta"
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+            "original_key": "robot0.action.target_cartesian_position"
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+        "target_cartesian_position_delta_left": {
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+            "end": 6,
+            "absolute": false,
+            "original_key": "robot0.action.target_cartesian_position_delta"
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+        "target_gripper_position_left": {
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+            "original_key": "robot0.action.target_gripper_position"
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+            "original_key": "robot0.action.target_gripper_position_delta"
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+            "original_key": "robot1.action.gripper_velocity"
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+        "gripper_velocity_delta_right": {
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+            "original_key": "robot1.action.gripper_velocity_delta"
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+            "absolute": false,
+            "original_key": "robot1.action.cartesian_position_delta"
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+        "gripper_position_delta_right": {
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+            "absolute": false,
+            "original_key": "robot1.action.gripper_position_delta"
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+        "delta_action_eef_right": {
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+            "end": 6,
+            "original_key": "robot1.action.delta_action"
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+        "delta_action_gripper_right": {
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+            "end": 7,
+            "original_key": "robot1.action.delta_action"
+        },
+        "delta_action_delta_right": {
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+            "absolute": false,
+            "original_key": "robot1.action.delta_action_delta"
+        },
+        "cartesian_velocity_right": {
+            "start": 0,
+            "end": 6,
+            "original_key": "robot1.action.cartesian_velocity"
+        },
+        "cartesian_velocity_delta_right": {
+            "start": 0,
+            "end": 6,
+            "absolute": false,
+            "original_key": "robot1.action.cartesian_velocity_delta"
+        },
+        "target_cartesian_position_right": {
+            "start": 0,
+            "end": 6,
+            "original_key": "robot1.action.target_cartesian_position"
+        },
+        "target_cartesian_position_delta_right": {
+            "start": 0,
+            "end": 6,
+            "absolute": false,
+            "original_key": "robot1.action.target_cartesian_position_delta"
+        },
+        "target_gripper_position_right": {
+            "start": 0,
+            "end": 1,
+            "original_key": "robot1.action.target_gripper_position"
+        },
+        "target_gripper_position_delta_right": {
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+            "end": 1,
+            "absolute": false,
+            "original_key": "robot1.action.target_gripper_position_delta"
+        }
+    },
+    "video": {
+        "right_wrist_view": {
+            "original_key": "observation.images.right_wrist_view"
+        },
+        "left_wrist_view": {
+            "original_key": "observation.images.left_wrist_view"
+        },
+        "front_view": {
+            "original_key": "observation.images.front_view"
+        },
+        "video_history_1": {
+            "original_key": "observation.images.video_history_1"
+        },
+        "video_history_2": {
+            "original_key": "observation.images.video_history_2"
+        },
+        "video_history_3": {
+            "original_key": "observation.images.video_history_3"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/sample/meta/stats.json b/sample/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbfa0057ac072b84f50f6aabf812d71720a094f5
--- /dev/null
+++ b/sample/meta/stats.json
@@ -0,0 +1,2664 @@
+{
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+}
\ No newline at end of file
diff --git a/sample/meta/subtasks.jsonl b/sample/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e85898927ae9a3407cb76a08ee29a175e5beb2e6
--- /dev/null
+++ b/sample/meta/subtasks.jsonl
@@ -0,0 +1,156 @@
+{"task_index": 0, "task": "Pick up one iced Americano and place it on the right Handle tray."}
+{"task_index": 1, "task": "Pick up another iced Americano from the middle of the table and place it on the right Handle tray."}
+{"task_index": 2, "task": "Pick up the Plastic Funnel and insert it into the Big flask."}
+{"task_index": 3, "task": "Once the solution is in the Big flask , pick up the Plastic Funnel and place it back into the right Organizing basket."}
+{"task_index": 4, "task": "When the human places the Big flask in the center of the table, pick up the Big flask and place it in the left Organizing basket."}
+{"task_index": 5, "task": "Pick up the Pencil pouch that the person points to."}
+{"task_index": 6, "task": "Move the picked Pencil pouch towards the Organizing basket indicated by the person, stopping as directed."}
+{"task_index": 7, "task": "Place the picked Pencil pouch into the Organizing basket as instructed by the person."}
+{"task_index": 8, "task": "Pick up the Stapler that the person points to."}
+{"task_index": 9, "task": "Place the picked Stapler into the Organizing basket as instructed by the person."}
+{"task_index": 10, "task": "Place both hands on the side flaps of the Package Box and spread them outward."}
+{"task_index": 11, "task": "Lift both hands away from the flaps of the Package Box."}
+{"task_index": 12, "task": "Press and hold the closed box until the human finishes sealing it."}
+{"task_index": 13, "task": "Receive the Duster from the Human."}
+{"task_index": 14, "task": "Clean a specific tier of the Shelf with the Duster after the items are removed."}
+{"task_index": 15, "task": "Clean the remaining tier of the Shelf with the Duster after the items are removed."}
+{"task_index": 16, "task": "Hand the Duster back to the Human."}
+{"task_index": 17, "task": "Pick up one triangle-folded towel and place it in the left Fabric basket."}
+{"task_index": 18, "task": "Pick up another triangle-folded towel from the table and place it in the left Fabric basket."}
+{"task_index": 19, "task": "Pick up one drink and place it into the Shopping basket."}
+{"task_index": 20, "task": "Pick up one Paper togo box."}
+{"task_index": 21, "task": "Place the picked Paper togo box on the Handle tray while simultaneously picking up another Paper togo box from the table with the other hand."}
+{"task_index": 22, "task": "Place the picked Paper togo box on the Handle tray."}
+{"task_index": 23, "task": "Pick up the Organizing basket and move it to the center of the table, then pick up the Reusable plastic cup from the right side of the table and place it inside the Organizing basket."}
+{"task_index": 24, "task": "Pick up the Reusable plastic cup from the right side of the table and stack it inside the Organizing basket in the center of the table."}
+{"task_index": 25, "task": "Move the Organizing basket back to the left side of the table."}
+{"task_index": 26, "task": "Pick up the Digital clock from the table and place it into the empty Plastic storage basket."}
+{"task_index": 27, "task": "Pick up one pair of Shoes and place it on the Shoes Stand indicated by the person."}
+{"task_index": 28, "task": "Pick up another pair of Shoes and place it on the Shoes Stand indicated by the person."}
+{"task_index": 29, "task": "Open the side flaps of the Package Box."}
+{"task_index": 30, "task": "Once the human has placed the objects inside and stepped back, release both hands from the side flaps of the Package Box."}
+{"task_index": 31, "task": "Push the right (or left) flap of the Package Box to close it."}
+{"task_index": 32, "task": "Push the left (or right) flap of the Package Box to close it."}
+{"task_index": 33, "task": "After the human seals the box with tape, release both hands from the side flaps of the Package Box."}
+{"task_index": 34, "task": "Pick up the Digital clock indicated by the person."}
+{"task_index": 35, "task": "If the picked Digital clock is wrapped, place it in the Package Box ; if not, place it in the Organizing box."}
+{"task_index": 36, "task": "Pick up the Blank PCB and present it to the human."}
+{"task_index": 37, "task": "Release the Blank PCB you were holding."}
+{"task_index": 38, "task": "Pick up the Blank PCB that the human is holding."}
+{"task_index": 39, "task": "Place the Blank PCB in the ESD tray."}
+{"task_index": 40, "task": "Pick up the Big flask that the person points to."}
+{"task_index": 41, "task": "While moving the picked Big flask to the Handle tray indicated by the person, stop as directed by the person."}
+{"task_index": 42, "task": "Place the picked Big flask upright in the Handle tray as instructed by the person."}
+{"task_index": 43, "task": "Place the picked Big flask upright in the Handle tray as directed by the person."}
+{"task_index": 44, "task": "Place the Butter Roll into the Airtight Container indicated by the human."}
+{"task_index": 45, "task": "Pick up one hotel-folded towel and place it in the Fabric basket indicated by the person."}
+{"task_index": 46, "task": "Pick up one hotel-folded towel from the bottom of the table and place it in the Fabric basket indicated by the person."}
+{"task_index": 47, "task": "Pick up the Lint Roller when the human hands it over."}
+{"task_index": 48, "task": "Clean the table with the Lint Roller when the human lifts the Dish drying rack."}
+{"task_index": 49, "task": "Place the Lint Roller down when the Dish drying rack is positioned in the middle of the table."}
+{"task_index": 50, "task": "When the cord part of the Power Cable appears at the lower middle area of the table and stops, grasp the cord part of the Power Cable."}
+{"task_index": 51, "task": "Pull the grasped Power Cable to the location of the Power Strip."}
+{"task_index": 52, "task": "Release the Power Cable when the human grasps it."}
+{"task_index": 53, "task": "Receive the A4 Paper."}
+{"task_index": 54, "task": "Place the A4 Paper in the designated Handle tray."}
+{"task_index": 55, "task": "Grab the top end of the 100 cm Hotel Towel extended by the human."}
+{"task_index": 56, "task": "Release the end of the 100 cm Hotel Towel you were holding and grab the top end of the folded side."}
+{"task_index": 57, "task": "Release the end of the 100 cm Hotel Towel you were holding."}
+{"task_index": 58, "task": "Pick up the 100 cm Hotel Towel and place it on the left side of the table."}
+{"task_index": 59, "task": "Pick up one Pepsi coke and place it on the Flat Tray."}
+{"task_index": 60, "task": "Pick up one Pepsi coke from the Handle tray and place it on the Flat Tray without a Pepsi coke."}
+{"task_index": 61, "task": "Place one shoe of the Shoes into the Shoes Box."}
+{"task_index": 62, "task": "Place the other shoe of the Shoes into the Shoes Box."}
+{"task_index": 63, "task": "Close the Shoes Box."}
+{"task_index": 64, "task": "Press down on the lid of the Shoes Box."}
+{"task_index": 65, "task": "Place the Power Cable into the Organizing box."}
+{"task_index": 66, "task": "Place the USB Extension Cable into the Organizing box."}
+{"task_index": 67, "task": "Pick up the Organizing box on the left side of the table and lift it."}
+{"task_index": 68, "task": "Offer the picked Organizing box to the human."}
+{"task_index": 69, "task": "Release the Organizing box you were holding."}
+{"task_index": 70, "task": "Pick up the Organizing box on the right side of the table and lift it."}
+{"task_index": 71, "task": "Place the Glasses case inside the Package Box."}
+{"task_index": 72, "task": "Put the Glasses case from the right side of the table into the Package Box."}
+{"task_index": 73, "task": "Position the Package Box on the left side of the table."}
+{"task_index": 74, "task": "Pick up a bundle of cables and place it in the basket indicated by the human."}
+{"task_index": 75, "task": "Hold the Lint Roller with your left hand and the towel with your right hand."}
+{"task_index": 76, "task": "If a person points to the right, clean the right side of the table with your right hand, and if they point to the left, clean the left side with your left hand."}
+{"task_index": 77, "task": "Clean the area not pointed to by the person."}
+{"task_index": 78, "task": "Return the Lint Roller and towel to their original positions."}
+{"task_index": 79, "task": "Pick up the Duster when the human hands it over."}
+{"task_index": 80, "task": "Clean a randomly selected level of the Shelf with the Duster."}
+{"task_index": 81, "task": "Clean another randomly selected level of the Shelf with the Duster."}
+{"task_index": 82, "task": "Place the Duster on the table."}
+{"task_index": 83, "task": "Pick up the Reusable plastic cup."}
+{"task_index": 84, "task": "Place the picked Reusable plastic cup into the Flat Tray indicated by the person."}
+{"task_index": 85, "task": "Pick up the Handle plastic cup and place it into the empty Flat Tray."}
+{"task_index": 86, "task": "Pick up the 600 ml Paper Cup and place it in the middle top area of the table."}
+{"task_index": 87, "task": "When a person places the Paper Cup Lid on the 600 ml Paper Cup , lift the 600 ml Paper Cup."}
+{"task_index": 88, "task": "Position the Cup Carrier in the center of the table."}
+{"task_index": 89, "task": "Insert the held 600 ml Paper Cup into the Cup Carrier."}
+{"task_index": 90, "task": "Pick up the item the person points to and place it in the Market Basket."}
+{"task_index": 91, "task": "Pick up the Picnic Bowl and Reusable plastic cup from the Handle tray in front of the human's position and hold them in the air."}
+{"task_index": 92, "task": "Place the Picnic Bowl and Reusable plastic cup back onto the Handle tray in front of the human's position."}
+{"task_index": 93, "task": "When a person lays out a Towel with hook on the table, fold it in half twice."}
+{"task_index": 94, "task": "Place the folded Towel with hook on the right side of the table."}
+{"task_index": 95, "task": "Stack the folded Towel with hook on the right side of the table."}
+{"task_index": 96, "task": "When the left (or right) Handle tray is removed, use the left hand (or right hand) to clean the left (or right) side of the table with the Lint Roller."}
+{"task_index": 97, "task": "Place the Lint Roller back on top of the Airtight Container."}
+{"task_index": 98, "task": "When the right (or left) Handle tray is removed, use the right hand (or left hand) to clean the right (or left) side of the table with the Lint Roller."}
+{"task_index": 99, "task": "Pick up the Duster handed by the human."}
+{"task_index": 100, "task": "Clean the specific section of the Shelf indicated by the human with the Duster."}
+{"task_index": 101, "task": "Hand the Duster back to the human."}
+{"task_index": 102, "task": "Pick up one Reusable plastic cup and place it on a coaster set by the human."}
+{"task_index": 103, "task": "Take one Reusable plastic cup from the Flat Tray and place it on a coaster set by the human."}
+{"task_index": 104, "task": "Pick up and lift the Paper togo box containing the Donut pointed at by the person."}
+{"task_index": 105, "task": "Place the picked Paper togo box onto the Handle tray extended by the person."}
+{"task_index": 106, "task": "Pick up a Butter Roll and place it into an empty Airtight Container."}
+{"task_index": 107, "task": "Open the Reusable shopping bag in the center of the table."}
+{"task_index": 108, "task": "Move the Reusable shopping bag to the right side of the table."}
+{"task_index": 109, "task": "Pick up the Pepsi coke handed by the human."}
+{"task_index": 110, "task": "Place the picked Pepsi coke in the line of the Automatic Can Dispenser with the same cans."}
+{"task_index": 111, "task": "Pick up the Ionic drink handed by the human."}
+{"task_index": 112, "task": "Place the picked Ionic drink in the line of the Automatic Can Dispenser with the same cans."}
+{"task_index": 113, "task": "Pick up the Sprite handed by the human."}
+{"task_index": 114, "task": "Place the picked Sprite in the line of the Automatic Can Dispenser with the same cans."}
+{"task_index": 115, "task": "If a person hands you a paper, place it in the Organizing basket , and if it's crumpled, put it in the Trash can."}
+{"task_index": 116, "task": "Lift clothes from the center of the table with your left hand."}
+{"task_index": 117, "task": "Sort the clothes according to human instructions."}
+{"task_index": 118, "task": "Lift clothes from the center of the table with your right hand."}
+{"task_index": 119, "task": "Pick up a Pencil pouch or Stapler and place it inside the Mailer Box closest to the robot."}
+{"task_index": 120, "task": "Close the lid of the Mailer Box closest to the robot."}
+{"task_index": 121, "task": "Pick up one can from the Automatic Can Dispenser and place it in the middle of the table."}
+{"task_index": 122, "task": "Pick up the last remaining can from one row of the Automatic Can Dispenser and place it in the middle of the table."}
+{"task_index": 123, "task": "Pick up the iced cup indicated by the human and present it to them."}
+{"task_index": 124, "task": "Open the gripper to release the iced cup you were holding."}
+{"task_index": 125, "task": "Pick up two Reusable plastic cups , one in each hand."}
+{"task_index": 126, "task": "Place the stack of Reusable plastic cups into the Pantry Basket."}
+{"task_index": 127, "task": "Lift both Airtight Container."}
+{"task_index": 128, "task": "Once an object is inside an Airtight Container , place the container in the center of the table."}
+{"task_index": 129, "task": "Pick up one Airtight Container lid and hand it to the human."}
+{"task_index": 130, "task": "Release when the human grabs the Airtight Container lid."}
+{"task_index": 131, "task": "Pick up the item indicated by the person and place it inside the Mailer Box."}
+{"task_index": 132, "task": "Close the Mailer Box."}
+{"task_index": 133, "task": "Pick up the waste item pointed out by the person."}
+{"task_index": 134, "task": "Place the picked waste into the Fabric basket indicated by the person."}
+{"task_index": 135, "task": "Pick up a can of the same type that the person held from the Automatic Can Dispenser."}
+{"task_index": 136, "task": "Place the picked can on the Handle tray extended by the person."}
+{"task_index": 137, "task": "Pick up another can of the same type that the person held from the Automatic Can Dispenser."}
+{"task_index": 138, "task": "Grab both ends of the Training pants handed by a person."}
+{"task_index": 139, "task": "Release the ends of the Training pants and then grab the overlapped ends."}
+{"task_index": 140, "task": "Fold the Training pants in half."}
+{"task_index": 141, "task": "Pick up the Blank PCB from the PCB Rack and place it in the left ESD tray."}
+{"task_index": 142, "task": "Pick up the ESD tray and place it on the left side of the table."}
+{"task_index": 143, "task": "Pick up the Blank PCB from the PCB Rack and place it in the right ESD tray."}
+{"task_index": 144, "task": "Pick up the Digital clock and place it inside the Organizing basket."}
+{"task_index": 145, "task": "Pick up the Stapler and place it inside the Organizing basket."}
+{"task_index": 146, "task": "Pick up the Reusable plastic cup and place it inside the Organizing basket."}
+{"task_index": 147, "task": "Pick up the Blank PCB handed by the Human."}
+{"task_index": 148, "task": "If the short side of the Blank PCB is picked up, insert it into the PCB Rack ; if the long side is picked up, place it in the Organizing box."}
+{"task_index": 149, "task": "Pick up one Shoe and place it in the middle of the table."}
+{"task_index": 150, "task": "Place the Shoe from the middle of the table onto the Shoes Stand."}
+{"task_index": 151, "task": "Pick up one Large Measuring Cup and place it on the Handle tray."}
+{"task_index": 152, "task": "Pick up one Small flask and place it on the Handle tray."}
+{"task_index": 153, "task": "Pick up the can waste from the table and place it in the right Fabric basket."}
+{"task_index": 154, "task": "Pick up a Picnic Bowl from the table and place it on a Handle tray."}
+{"task_index": 155, "task": "Pick up a writing instrument from the table and place it into the Pen holder."}
diff --git a/sample/meta/tasks.jsonl b/sample/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e3d2d81c48c9ec2bb34cca8c67b368cbe16b2cd0
--- /dev/null
+++ b/sample/meta/tasks.jsonl
@@ -0,0 +1,58 @@
+{"task_index": 0, "task": "Distribute the coffee onto the tray."}
+{"task_index": 1, "task": "Prepare the solutions needed for the experiment."}
+{"task_index": 2, "task": "Distribute items into two baskets."}
+{"task_index": 3, "task": "Pack the gift set into the box."}
+{"task_index": 4, "task": "Clean the shelf."}
+{"task_index": 5, "task": "Sort the towels based on their folding style."}
+{"task_index": 6, "task": "Place the drinks into the Shopping basket."}
+{"task_index": 7, "task": "Individually package the donuts and arrange them on the tray."}
+{"task_index": 8, "task": "Clean and organize the cups into the basket."}
+{"task_index": 9, "task": "Sort the digital clocks into the basket."}
+{"task_index": 10, "task": "Place the shoes on the stand as instructed by the person."}
+{"task_index": 11, "task": "Wrap the clocks to prevent damage."}
+{"task_index": 12, "task": "Separate and place wrapped and unwrapped clocks."}
+{"task_index": 13, "task": "Inspect the PCB."}
+{"task_index": 14, "task": "Prepare the laboratory tools."}
+{"task_index": 15, "task": "Place the bread in the container."}
+{"task_index": 16, "task": "Divide the towels into two baskets."}
+{"task_index": 17, "task": "Clean the table."}
+{"task_index": 18, "task": "Perform cable management."}
+{"task_index": 19, "task": "Sort the A4 documents."}
+{"task_index": 20, "task": "Fold the towel."}
+{"task_index": 21, "task": "Set up donuts and drinks on trays."}
+{"task_index": 22, "task": "Pack the shoes into the box."}
+{"task_index": 23, "task": "Organize and store the cables."}
+{"task_index": 24, "task": "Sort the waste into each basket."}
+{"task_index": 25, "task": "Pack the glasses set securely to prepare it for shipping."}
+{"task_index": 26, "task": "Organize the cables according to human instructions."}
+{"task_index": 27, "task": "Clean the surface of the table."}
+{"task_index": 28, "task": "Clean the shelves."}
+{"task_index": 29, "task": "Sort and store the cups by type."}
+{"task_index": 30, "task": "Pour a drink into a cup and package it in a carrier."}
+{"task_index": 31, "task": "Place the items the person wants into the basket."}
+{"task_index": 32, "task": "Set up a tray with a mat and arrange the tableware."}
+{"task_index": 33, "task": "Fold the towels and place them in the basket."}
+{"task_index": 34, "task": "Clean the floor after clearing the dishes."}
+{"task_index": 35, "task": "Place coasters on the table and set cups on them."}
+{"task_index": 36, "task": "Provide the desired donut to the person."}
+{"task_index": 37, "task": "Place the bread into the airtight container."}
+{"task_index": 38, "task": "Transfer purchased items from the store into the shopping bag."}
+{"task_index": 39, "task": "Fill the beverage cans into the dispenser."}
+{"task_index": 40, "task": "Sort the paper based on its condition."}
+{"task_index": 41, "task": "Sort the tops and bottoms."}
+{"task_index": 42, "task": "Place items inside the box."}
+{"task_index": 43, "task": "Retrieve and store the cans from the dispenser."}
+{"task_index": 44, "task": "Pour the drink into the iced cup."}
+{"task_index": 45, "task": "Stack the cups and store them in the basket."}
+{"task_index": 46, "task": "Place the bread in airtight containers."}
+{"task_index": 47, "task": "Pack the item into the box."}
+{"task_index": 48, "task": "Sort the waste into the appropriate baskets."}
+{"task_index": 49, "task": "Retrieve and hand over the desired beverage to the person."}
+{"task_index": 50, "task": "Fold the training pants."}
+{"task_index": 51, "task": "Inspect and transfer BCBs to ESD trays."}
+{"task_index": 52, "task": "Efficiently arrange items inside the basket to fit them all."}
+{"task_index": 53, "task": "Sort PCBs into racks and boxes based on the side picked up."}
+{"task_index": 54, "task": "Organize the shoes by placing them on the stand."}
+{"task_index": 55, "task": "Sort the can waste into the basket."}
+{"task_index": 56, "task": "Prepare tableware on both trays."}
+{"task_index": 57, "task": "Place the pens into the pen holder."}