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diff --git a/meta/info.json b/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b90e10077a599545e4202b8879845134df81ed40
--- /dev/null
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diff --git a/meta/stats.json b/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..37ed573a50d41d5eaaedef3d8534c8bffdb7204f
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+        "max": [
+            430.0
+        ],
+        "min": [
+            0.0
+        ]
+    },
+    "index": {
+        "mean": [
+            68276.7734375
+        ],
+        "std": [
+            39419.73828125
+        ],
+        "max": [
+            136553.0
+        ],
+        "min": [
+            0.0
+        ]
+    },
+    "task_index": {
+        "mean": [
+            101.41248321533203
+        ],
+        "std": [
+            55.67688751220703
+        ],
+        "max": [
+            209.0
+        ],
+        "min": [
+            0.0
+        ]
+    }
+}
\ No newline at end of file
diff --git a/meta/tasks.jsonl b/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..33e3ab41d4bb3011ab2317b06681e1f75882ccbc
--- /dev/null
+++ b/meta/tasks.jsonl
@@ -0,0 +1,210 @@
+{"task_index": 0, "task": "pick the hot dog from the cabinet and place it on the counter"}
+{"task_index": 1, "task": "pick the bar from the cabinet and place it on the counter"}
+{"task_index": 2, "task": "pick the banana from the cabinet and place it on the counter"}
+{"task_index": 3, "task": "pick the onion from the cabinet and place it on the counter"}
+{"task_index": 4, "task": "pick the jug from the cabinet and place it on the counter"}
+{"task_index": 5, "task": "pick the bread from the cabinet and place it on the counter"}
+{"task_index": 6, "task": "pick the tomato from the cabinet and place it on the counter"}
+{"task_index": 7, "task": "pick the fish from the cabinet and place it on the counter"}
+{"task_index": 8, "task": "pick the bell pepper from the cabinet and place it on the counter"}
+{"task_index": 9, "task": "pick the avocado from the cabinet and place it on the counter"}
+{"task_index": 10, "task": "pick the steak from the cabinet and place it on the counter"}
+{"task_index": 11, "task": "pick the yogurt from the cabinet and place it on the counter"}
+{"task_index": 12, "task": "pick the mango from the cabinet and place it on the counter"}
+{"task_index": 13, "task": "pick the ketchup from the cabinet and place it on the counter"}
+{"task_index": 14, "task": "pick the condiment bottle from the cabinet and place it on the counter"}
+{"task_index": 15, "task": "pick the cucumber from the cabinet and place it on the counter"}
+{"task_index": 16, "task": "pick the canned food from the cabinet and place it on the counter"}
+{"task_index": 17, "task": "pick the carrot from the cabinet and place it on the counter"}
+{"task_index": 18, "task": "pick the bar soap from the cabinet and place it on the counter"}
+{"task_index": 19, "task": "pick the water bottle from the cabinet and place it on the counter"}
+{"task_index": 20, "task": "pick the ladle from the cabinet and place it on the counter"}
+{"task_index": 21, "task": "pick the coffee cup from the cabinet and place it on the counter"}
+{"task_index": 22, "task": "pick the lime from the cabinet and place it on the counter"}
+{"task_index": 23, "task": "pick the garlic from the cabinet and place it on the counter"}
+{"task_index": 24, "task": "pick the jam from the cabinet and place it on the counter"}
+{"task_index": 25, "task": "pick the broccoli from the cabinet and place it on the counter"}
+{"task_index": 26, "task": "pick the croissant from the cabinet and place it on the counter"}
+{"task_index": 27, "task": "pick the teapot from the cabinet and place it on the counter"}
+{"task_index": 28, "task": "pick the boxed food from the cabinet and place it on the counter"}
+{"task_index": 29, "task": "pick the apple from the cabinet and place it on the counter"}
+{"task_index": 30, "task": "pick the egg from the cabinet and place it on the counter"}
+{"task_index": 31, "task": "pick the boxed drink from the cabinet and place it on the counter"}
+{"task_index": 32, "task": "pick the kiwi from the cabinet and place it on the counter"}
+{"task_index": 33, "task": "pick the mushroom from the cabinet and place it on the counter"}
+{"task_index": 34, "task": "pick the onion from the microwave and place it on plate located on the counter"}
+{"task_index": 35, "task": "pick the carrot from the microwave and place it on plate located on the counter"}
+{"task_index": 36, "task": "pick the egg from the microwave and place it on plate located on the counter"}
+{"task_index": 37, "task": "pick the tomato from the microwave and place it on plate located on the counter"}
+{"task_index": 38, "task": "pick the corn from the microwave and place it on plate located on the counter"}
+{"task_index": 39, "task": "pick the potato from the microwave and place it on plate located on the counter"}
+{"task_index": 40, "task": "pick the broccoli from the microwave and place it on plate located on the counter"}
+{"task_index": 41, "task": "pick the bell pepper from the microwave and place it on plate located on the counter"}
+{"task_index": 42, "task": "pick the eggplant from the microwave and place it on plate located on the counter"}
+{"task_index": 43, "task": "pick the cheese from the microwave and place it on plate located on the counter"}
+{"task_index": 44, "task": "pick the mushroom from the microwave and place it on plate located on the counter"}
+{"task_index": 45, "task": "pick the sweet potato from the microwave and place it on plate located on the counter"}
+{"task_index": 46, "task": "pick the steak from the microwave and place it on plate located on the counter"}
+{"task_index": 47, "task": "pick the hot dog from the microwave and place it on plate located on the counter"}
+{"task_index": 48, "task": "pick the squash from the microwave and place it on plate located on the counter"}
+{"task_index": 49, "task": "pick the fish from the microwave and place it on plate located on the counter"}
+{"task_index": 50, "task": "pick the garlic from the microwave and place it on plate located on the counter"}
+{"task_index": 51, "task": "pick the tomato from the sink and place it on the plate located on the counter"}
+{"task_index": 52, "task": "pick the garlic from the sink and place it on the plate located on the counter"}
+{"task_index": 53, "task": "pick the onion from the sink and place it on the plate located on the counter"}
+{"task_index": 54, "task": "pick the avocado from the sink and place it on the plate located on the counter"}
+{"task_index": 55, "task": "pick the mushroom from the sink and place it on the plate located on the counter"}
+{"task_index": 56, "task": "pick the fish from the sink and place it on the plate located on the counter"}
+{"task_index": 57, "task": "pick the kiwi from the sink and place it on the plate located on the counter"}
+{"task_index": 58, "task": "pick the apple from the sink and place it on the plate located on the counter"}
+{"task_index": 59, "task": "pick the banana from the sink and place it on the plate located on the counter"}
+{"task_index": 60, "task": "pick the potato from the sink and place it on the plate located on the counter"}
+{"task_index": 61, "task": "pick the bell pepper from the sink and place it on the plate located on the counter"}
+{"task_index": 62, "task": "pick the broccoli from the sink and place it on the plate located on the counter"}
+{"task_index": 63, "task": "pick the pear from the sink and place it on the plate located on the counter"}
+{"task_index": 64, "task": "pick the milk from the sink and place it on the plate located on the counter"}
+{"task_index": 65, "task": "pick the corn from the sink and place it on the plate located on the counter"}
+{"task_index": 66, "task": "pick the carrot from the sink and place it on the plate located on the counter"}
+{"task_index": 67, "task": "pick the yogurt from the sink and place it on the plate located on the counter"}
+{"task_index": 68, "task": "pick the tangerine from the sink and place it on the plate located on the counter"}
+{"task_index": 69, "task": "pick the lime from the sink and place it on the plate located on the counter"}
+{"task_index": 70, "task": "pick the lemon from the sink and place it on the plate located on the counter"}
+{"task_index": 71, "task": "pick the squash from the sink and place it on the plate located on the counter"}
+{"task_index": 72, "task": "pick the steak from the sink and place it on the plate located on the counter"}
+{"task_index": 73, "task": "pick the egg from the sink and place it on the plate located on the counter"}
+{"task_index": 74, "task": "pick the mango from the sink and place it on the plate located on the counter"}
+{"task_index": 75, "task": "pick the sweet potato from the sink and place it on the plate located on the counter"}
+{"task_index": 76, "task": "pick the orange from the sink and place it on the plate located on the counter"}
+{"task_index": 77, "task": "pick the peach from the sink and place it on the plate located on the counter"}
+{"task_index": 78, "task": "pick the apple from the counter and place it in the sink"}
+{"task_index": 79, "task": "pick the jam from the counter and place it in the sink"}
+{"task_index": 80, "task": "pick the tangerine from the counter and place it in the sink"}
+{"task_index": 81, "task": "pick the carrot from the counter and place it in the sink"}
+{"task_index": 82, "task": "pick the rolling pin from the counter and place it in the sink"}
+{"task_index": 83, "task": "pick the lemon from the counter and place it in the sink"}
+{"task_index": 84, "task": "pick the avocado from the counter and place it in the sink"}
+{"task_index": 85, "task": "pick the teapot from the counter and place it in the sink"}
+{"task_index": 86, "task": "pick the corn from the counter and place it in the sink"}
+{"task_index": 87, "task": "pick the cheese from the counter and place it in the sink"}
+{"task_index": 88, "task": "pick the mushroom from the counter and place it in the sink"}
+{"task_index": 89, "task": "pick the wine from the counter and place it in the sink"}
+{"task_index": 90, "task": "pick the potato from the counter and place it in the sink"}
+{"task_index": 91, "task": "pick the bar soap from the counter and place it in the sink"}
+{"task_index": 92, "task": "pick the garlic from the counter and place it in the sink"}
+{"task_index": 93, "task": "pick the can from the counter and place it in the sink"}
+{"task_index": 94, "task": "pick the kiwi from the counter and place it in the sink"}
+{"task_index": 95, "task": "pick the pear from the counter and place it in the sink"}
+{"task_index": 96, "task": "pick the soap dispenser from the counter and place it in the sink"}
+{"task_index": 97, "task": "pick the sponge from the counter and place it in the sink"}
+{"task_index": 98, "task": "pick the bottled drink from the counter and place it in the sink"}
+{"task_index": 99, "task": "pick the egg from the counter and place it in the sink"}
+{"task_index": 100, "task": "pick the fish from the counter and place it in the sink"}
+{"task_index": 101, "task": "pick the orange from the counter and place it in the sink"}
+{"task_index": 102, "task": "pick the canned food from the counter and place it in the sink"}
+{"task_index": 103, "task": "pick the water bottle from the counter and place it in the sink"}
+{"task_index": 104, "task": "pick the boxed drink from the counter and place it in the sink"}
+{"task_index": 105, "task": "pick the milk from the counter and place it in the sink"}
+{"task_index": 106, "task": "pick the condiment bottle from the counter and place it in the sink"}
+{"task_index": 107, "task": "pick the kettle non electric from the counter and place it in the sink"}
+{"task_index": 108, "task": "pick the eggplant from the counter and place it in the sink"}
+{"task_index": 109, "task": "pick the cup from the counter and place it in the sink"}
+{"task_index": 110, "task": "pick the potato from the plate and place it in the pan"}
+{"task_index": 111, "task": "pick the lime from the plate and place it in the pan"}
+{"task_index": 112, "task": "pick the sweet potato from the plate and place it in the pan"}
+{"task_index": 113, "task": "pick the mango from the plate and place it in the pan"}
+{"task_index": 114, "task": "pick the cheese from the plate and place it in the pan"}
+{"task_index": 115, "task": "pick the steak from the plate and place it in the pan"}
+{"task_index": 116, "task": "pick the apple from the plate and place it in the pan"}
+{"task_index": 117, "task": "pick the carrot from the plate and place it in the pan"}
+{"task_index": 118, "task": "pick the corn from the plate and place it in the pan"}
+{"task_index": 119, "task": "pick the egg from the plate and place it in the pan"}
+{"task_index": 120, "task": "pick the tomato from the plate and place it in the pan"}
+{"task_index": 121, "task": "pick the garlic from the plate and place it in the pan"}
+{"task_index": 122, "task": "pick the onion from the plate and place it in the pan"}
+{"task_index": 123, "task": "pick the lemon from the plate and place it in the pan"}
+{"task_index": 124, "task": "pick the bell pepper from the plate and place it in the pan"}
+{"task_index": 125, "task": "pick the broccoli from the plate and place it in the pan"}
+{"task_index": 126, "task": "pick the eggplant from the plate and place it in the pan"}
+{"task_index": 127, "task": "pick the fish from the plate and place it in the pan"}
+{"task_index": 128, "task": "pick the steak from the pan and place it on the plate"}
+{"task_index": 129, "task": "pick the sweet potato from the pan and place it on the plate"}
+{"task_index": 130, "task": "pick the eggplant from the pan and place it in the bowl"}
+{"task_index": 131, "task": "pick the lime from the pan and place it on the plate"}
+{"task_index": 132, "task": "pick the cheese from the pan and place it on the plate"}
+{"task_index": 133, "task": "pick the lemon from the pan and place it on the plate"}
+{"task_index": 134, "task": "pick the potato from the pan and place it on the plate"}
+{"task_index": 135, "task": "pick the garlic from the pan and place it in the bowl"}
+{"task_index": 136, "task": "pick the squash from the pan and place it on the plate"}
+{"task_index": 137, "task": "pick the mango from the pan and place it on the plate"}
+{"task_index": 138, "task": "pick the mushroom from the pan and place it on the plate"}
+{"task_index": 139, "task": "pick the tomato from the pan and place it on the plate"}
+{"task_index": 140, "task": "pick the steak from the pan and place it in the bowl"}
+{"task_index": 141, "task": "pick the apple from the pan and place it in the bowl"}
+{"task_index": 142, "task": "pick the egg from the pan and place it on the plate"}
+{"task_index": 143, "task": "pick the lemon from the pan and place it in the bowl"}
+{"task_index": 144, "task": "pick the egg from the pan and place it in the bowl"}
+{"task_index": 145, "task": "pick the onion from the pan and place it on the plate"}
+{"task_index": 146, "task": "pick the tomato from the pan and place it in the bowl"}
+{"task_index": 147, "task": "pick the mango from the pan and place it in the bowl"}
+{"task_index": 148, "task": "pick the broccoli from the pan and place it on the plate"}
+{"task_index": 149, "task": "pick the fish from the pan and place it on the plate"}
+{"task_index": 150, "task": "pick the carrot from the pan and place it on the plate"}
+{"task_index": 151, "task": "pick the lime from the pan and place it in the bowl"}
+{"task_index": 152, "task": "pick the bell pepper from the pan and place it in the bowl"}
+{"task_index": 153, "task": "pick the corn from the counter and place it in the microwave"}
+{"task_index": 154, "task": "pick the cheese from the counter and place it in the microwave"}
+{"task_index": 155, "task": "pick the fish from the counter and place it in the microwave"}
+{"task_index": 156, "task": "pick the steak from the counter and place it in the microwave"}
+{"task_index": 157, "task": "pick the onion from the counter and place it in the microwave"}
+{"task_index": 158, "task": "pick the tomato from the counter and place it in the microwave"}
+{"task_index": 159, "task": "pick the mushroom from the counter and place it in the microwave"}
+{"task_index": 160, "task": "pick the potato from the counter and place it in the microwave"}
+{"task_index": 161, "task": "pick the squash from the counter and place it in the microwave"}
+{"task_index": 162, "task": "pick the carrot from the counter and place it in the microwave"}
+{"task_index": 163, "task": "pick the garlic from the counter and place it in the microwave"}
+{"task_index": 164, "task": "pick the sweet potato from the counter and place it in the microwave"}
+{"task_index": 165, "task": "pick the hot dog from the counter and place it in the microwave"}
+{"task_index": 166, "task": "pick the broccoli from the counter and place it in the microwave"}
+{"task_index": 167, "task": "pick the eggplant from the counter and place it in the microwave"}
+{"task_index": 168, "task": "pick the bell pepper from the counter and place it in the microwave"}
+{"task_index": 169, "task": "pick the egg from the counter and place it in the microwave"}
+{"task_index": 170, "task": "pick the cake from the counter and place it in the cabinet"}
+{"task_index": 171, "task": "pick the hot dog from the counter and place it in the cabinet"}
+{"task_index": 172, "task": "pick the carrot from the counter and place it in the cabinet"}
+{"task_index": 173, "task": "pick the avocado from the counter and place it in the cabinet"}
+{"task_index": 174, "task": "pick the mushroom from the counter and place it in the cabinet"}
+{"task_index": 175, "task": "pick the shaker from the counter and place it in the cabinet"}
+{"task_index": 176, "task": "pick the orange from the counter and place it in the cabinet"}
+{"task_index": 177, "task": "pick the squash from the counter and place it in the cabinet"}
+{"task_index": 178, "task": "pick the water bottle from the counter and place it in the cabinet"}
+{"task_index": 179, "task": "pick the sponge from the counter and place it in the cabinet"}
+{"task_index": 180, "task": "pick the soap dispenser from the counter and place it in the cabinet"}
+{"task_index": 181, "task": "pick the egg from the counter and place it in the cabinet"}
+{"task_index": 182, "task": "pick the tomato from the counter and place it in the cabinet"}
+{"task_index": 183, "task": "pick the cheese from the counter and place it in the cabinet"}
+{"task_index": 184, "task": "pick the jam from the counter and place it in the cabinet"}
+{"task_index": 185, "task": "pick the mug from the counter and place it in the cabinet"}
+{"task_index": 186, "task": "pick the kettle non electric from the counter and place it in the cabinet"}
+{"task_index": 187, "task": "pick the sweet potato from the counter and place it in the cabinet"}
+{"task_index": 188, "task": "pick the jug from the counter and place it in the cabinet"}
+{"task_index": 189, "task": "pick the bowl from the counter and place it in the cabinet"}
+{"task_index": 190, "task": "pick the canned food from the counter and place it in the cabinet"}
+{"task_index": 191, "task": "pick the cup from the counter and place it in the cabinet"}
+{"task_index": 192, "task": "pick the cupcake from the counter and place it in the cabinet"}
+{"task_index": 193, "task": "pick the kettle electric from the counter and place it in the cabinet"}
+{"task_index": 194, "task": "pick the mango from the counter and place it in the cabinet"}
+{"task_index": 195, "task": "pick the yogurt from the counter and place it in the cabinet"}
+{"task_index": 196, "task": "pick the potato from the counter and place it in the cabinet"}
+{"task_index": 197, "task": "pick the broccoli from the counter and place it in the cabinet"}
+{"task_index": 198, "task": "pick the spray from the counter and place it in the cabinet"}
+{"task_index": 199, "task": "pick the can from the counter and place it in the cabinet"}
+{"task_index": 200, "task": "pick the ketchup from the counter and place it in the cabinet"}
+{"task_index": 201, "task": "pick the steak from the counter and place it in the cabinet"}
+{"task_index": 202, "task": "pick the bell pepper from the counter and place it in the cabinet"}
+{"task_index": 203, "task": "pick the beer from the counter and place it in the cabinet"}
+{"task_index": 204, "task": "pick the lemon from the counter and place it in the cabinet"}
+{"task_index": 205, "task": "pick the bar soap from the counter and place it in the cabinet"}
+{"task_index": 206, "task": "pick the baguette from the counter and place it in the cabinet"}
+{"task_index": 207, "task": "pick the candle from the counter and place it in the cabinet"}
+{"task_index": 208, "task": "pick the onion from the counter and place it in the cabinet"}
+{"task_index": 209, "task": "pick the liquor from the counter and place it in the cabinet"}