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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000002/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000002/ep_meta.json
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+{
+    "layout_id": 27,
+    "style_id": 50,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_front_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot060/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.1634830763681588,
+                    -0.09961690942935982,
+                    0.48370738282279596
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "window_group_3_room": {
+            "cls": "Window"
+        },
+        "window_group_4_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "sink_1_main_group": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "box_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "middle_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stove_front_group": {
+            "cls": "Stove"
+        },
+        "counter_2_front_group": {
+            "cls": "Counter"
+        },
+        "counter_3_front_group": {
+            "cls": "Counter"
+        },
+        "counter_4_front_group": {
+            "cls": "Counter"
+        },
+        "counter_5_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_front_group_2": {
+            "cls": "Drawer"
+        },
+        "box_1_front_group": {
+            "cls": "Box"
+        },
+        "box_2_front_group": {
+            "cls": "Box"
+        },
+        "box_3_front_group": {
+            "cls": "Box"
+        },
+        "hood_front_group": {
+            "cls": "Hood"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.070587155069603,
+        -1.9576737326988296,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -1.57079623937212
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "front_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000003/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000003/model.xml.gz
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+version https://git-lfs.github.com/spec/v1
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+size 46435
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000003/rewards_dense.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000003/rewards_dense.npz
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000003/states.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000003/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..65024979b23361cfcdbe3b6be6e0ed314b506746
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000003/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000004/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000004/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3db3acb6dfd1e3e09175cab7f76bdce05c6c4ab6
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000004/ep_meta.json
@@ -0,0 +1,389 @@
+{
+    "layout_id": 45,
+    "style_id": 33,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_right_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot064/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.1697292733598175,
+                    0.16156454641941922,
+                    0.4619347540804282
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.004_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "fridgesidebyside_right_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "panelbox_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panelbox_2_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "panelbox_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panelbox_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.8657343464711875,
+        -1.9779308954239014,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        0.00030199704781619374
+    ],
+    "task_refs": {
+        "knob": "rear_right",
+        "cookware_burner": "rear_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000005/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000005/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26525df2ec6b65badd3dfd05e4e76ac7383f4d4e
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000005/ep_meta.json
@@ -0,0 +1,380 @@
+{
+    "layout_id": 32,
+    "style_id": 26,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "widestove_right_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.26596531571105514,
+                    -0.12491630999507006,
+                    0.47018691497155635
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "opencabinet_1_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "knifeblock_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "widestove_right_group_1": {
+            "cls": "Stove"
+        },
+        "widestove_hood_right_group_1": {
+            "cls": "Hood"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "fridgesidebyside_right_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "papertowel_island_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.4501743811469403,
+        -1.6174693876836692,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        0.00030199704781619374
+    ],
+    "task_refs": {
+        "knob": "front_right",
+        "cookware_burner": "front_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000006/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000006/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1453124760c0594dd802e48a614bc89c92f06391
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000006/ep_meta.json
@@ -0,0 +1,401 @@
+{
+    "layout_id": 48,
+    "style_id": 51,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "widestove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "kettle_non_electric",
+                    "receptacle",
+                    "kettle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "kettle_non_electric",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_11/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.29718336279207036,
+                    -0.15182910559976268,
+                    0.45524094270582643
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "lightswitch_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_6_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_3_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "opencabinet_right_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_3_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_04_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_06_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_03_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_03_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_05_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
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+        "toaster_right_group_1": {
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+            "cls": "Counter"
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+            "cls": "Stove"
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+            "cls": "Hood"
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+            "cls": "Counter"
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\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000007/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000007/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d5713c0f3b3ec77ba94e1d341f024f77ed2cf0a
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000007/ep_meta.json
@@ -0,0 +1,407 @@
+{
+    "layout_id": 47,
+    "style_id": 36,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
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+                    "kettle",
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+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000008/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000008/model.xml.gz
new file mode 100644
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+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "window_group_3_room": {
+            "cls": "Window"
+        },
+        "window_group_4_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "sink_1_main_group": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "box_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "middle_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stove_front_group": {
+            "cls": "Stove"
+        },
+        "counter_2_front_group": {
+            "cls": "Counter"
+        },
+        "counter_3_front_group": {
+            "cls": "Counter"
+        },
+        "counter_4_front_group": {
+            "cls": "Counter"
+        },
+        "counter_5_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_front_group_2": {
+            "cls": "Drawer"
+        },
+        "box_1_front_group": {
+            "cls": "Box"
+        },
+        "box_2_front_group": {
+            "cls": "Box"
+        },
+        "box_3_front_group": {
+            "cls": "Box"
+        },
+        "hood_front_group": {
+            "cls": "Hood"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.271335801540031,
+        -1.9559567429370832,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -1.57079623937212
+    ],
+    "task_refs": {
+        "knob": "front_right",
+        "cookware_burner": "rear_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000010/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000010/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bad240b16c0d4ed0044dd785345fd0a6c82b0f3d
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000010/ep_meta.json
@@ -0,0 +1,379 @@
+{
+    "layout_id": 32,
+    "style_id": 32,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "widestove_right_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "saucepan",
+                    "receptacle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "saucepan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan006/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.26452971499762806,
+                    0.1661242763061401,
+                    0.47018691497155635
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "opencabinet_1_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "knifeblock_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "widestove_right_group_1": {
+            "cls": "Stove"
+        },
+        "widestove_hood_right_group_1": {
+            "cls": "Hood"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "fridgesidebyside_right_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "papertowel_island_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
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+                0.35,
+                1.05
+            ],
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+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
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+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
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+            "camera_attribs": {
+                "fovy": "60"
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+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
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+                0
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+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.455336640266425,
+        -1.7287862827144655,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        0.00030199704781619374
+    ],
+    "task_refs": {
+        "knob": "rear_right",
+        "cookware_burner": "rear_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000011/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000011/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..7473005ac669861f89a1c414daa454af48c70552
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000011/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c12b5cae5eac70ef58fe29b2aeb6cc20dc408ae32e99bd21564d67bc83a6125c
+size 53479
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000011/rewards_dense.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000011/rewards_dense.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4bad7ff7e28a35f0d94f67e39bd824018ac68584
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000011/rewards_dense.npz
@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000011/states.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000011/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..32f83034166619a1c3795cac10b1fce381234d24
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000011/states.npz
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000015/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000015/ep_meta.json
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@@ -0,0 +1,428 @@
+{
+    "layout_id": 16,
+    "style_id": 28,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot064/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.16618790833424246,
+                    0.14863972696327488,
+                    0.4837074381716271
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_5_room": {
+            "cls": "Wall"
+        },
+        "wall_left_5_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_4_room": {
+            "cls": "Wall"
+        },
+        "wall_right_4_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "counter_corner_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_1_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_main_group_1": {
+            "cls": "Box"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "cab_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "sink_1_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "box_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "panel_stack_right_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_right_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "cab_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "box_1_island_group": {
+            "cls": "Box"
+        },
+        "box_2_island_group": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.7454700445847584,
+        -0.866705171253317,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "rear_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000016/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000016/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..69e43d74bec0021883ed1552d150729db7be943a
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000016/ep_meta.json
@@ -0,0 +1,395 @@
+{
+    "layout_id": 30,
+    "style_id": 56,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_left_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.17793061636948468,
+                    -0.11925439149681882,
+                    0.42613688140483036
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "ligh_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "window_group_3_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_3": {
+            "cls": "Drawer"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_5_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_right_group": {
+            "cls": "Box"
+        },
+        "cab_1_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "dining_front_group": {
+            "cls": "Counter"
+        },
+        "box_front_group": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_4": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.8185905591222385,
+        -2.5177348788888274,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
+    ],
+    "task_refs": {
+        "knob": "front_right",
+        "cookware_burner": "front_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000017/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000017/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a12a1e2c1dd4c4b647c027b3928d57527f8ddba
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000017/ep_meta.json
@@ -0,0 +1,388 @@
+{
+    "layout_id": 60,
+    "style_id": 29,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "saucepan",
+                    "receptacle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "saucepan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan002/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.14636090221691678,
+                    -0.09510533194069311,
+                    0.4631342364656341
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_01_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_04_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_12_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_06_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_07_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_08_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_09_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_10_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_11_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_01_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_02_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_3_main_group_1": {
+            "cls": "Box"
+        },
+        "singlecabinet_01_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_11_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_12_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "fridgebottomfreezer_right_group_1": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridgebottomfreezer_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_05_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_6_right_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_04_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_06_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_8_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_8_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_13_right_group_1": {
+            "cls": "Box"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_left_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "counter_5_left_group_1": {
+            "cls": "Counter"
+        },
+        "cube_1_left_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_4_left_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_left_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_left_group_1": {
+            "cls": "Dishwasher"
+        },
+        "toaster_left_group_1": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.130644854468806,
+        -0.8393942430348592,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "front_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000018/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000018/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2c50d2c914496521e9903afdd4de7a6c383ed93
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000018/ep_meta.json
@@ -0,0 +1,452 @@
+{
+    "layout_id": 56,
+    "style_id": 38,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot057/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.29718336279207036,
+                    -0.15182910559976268,
+                    0.45524094270582643
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_02_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_03_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stack_13_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_13_island_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_04_island_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_12_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_12_island_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "opencabinet_2_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "opencabinet_3_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "cube_4_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_11_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_11_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_08_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_08_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_07_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_07_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_07_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_8_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_9_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_8_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_6_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_6_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_right_group_1_2": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_11_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_7_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_12_right_group_1": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_11_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_11_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_11_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_09_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_3": {
+            "cls": "Drawer"
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+        "stack_10_island_group_1_base": {
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+        "stack_10_island_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_10_island_group_1_2": {
+            "cls": "Drawer"
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+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                -0.6,
+                0.0,
+                1.15
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+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
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+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
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+                -0.35,
+                1.05
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+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
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+            "camera_attribs": {
+                "fovy": "60"
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+            "parent_body": "mobilebase0_support"
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+        "robot0_frontview": {
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+                0.95
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+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
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+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.1691783577645265,
+        -0.8563657946602741,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.57064844767067
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "front_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000019/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000019/model.xml.gz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 61717
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000019/rewards_dense.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000019/rewards_dense.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ad32ab08766396d5899eafa3edee9c07c1fbb782
--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000019/states.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000019/states.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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+size 139595
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000020/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000020/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..20031e1f5ec1887678049d2831e479d3e5959477
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000020/ep_meta.json
@@ -0,0 +1,419 @@
+{
+    "layout_id": 33,
+    "style_id": 51,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "widestove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_left"
+                    ]
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+                    "receptacle",
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+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml"
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+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
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+        "wall_main_2_room": {
+            "cls": "Wall"
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+        "wall_main_2_backing_room": {
+            "cls": "Wall"
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+        "wall_main_3.001_room": {
+            "cls": "Wall"
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+        "wall_main_3.001_backing_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
+            "cls": "Floor"
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+        "floor_1_backing_room": {
+            "cls": "Floor"
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+        "floor_2.001_room": {
+            "cls": "Floor"
+        },
+        "floor_2.001_backing_room": {
+            "cls": "Floor"
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+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
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+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
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+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
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+        "stack_2_right_group_1_1": {
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+        },
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+            "cls": "HingeCabinet"
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+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "widestove_main_group_1": {
+            "cls": "Stove"
+        },
+        "widestove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
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+        "stack_2_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
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+        "stack_3_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_2_island_group_1_base": {
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+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
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+        },
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+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
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+                0.29935253,
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+                -0.2993525564670563,
+                -0.55623859167099
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+            "parent_body": "mobilebase0_support"
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+        "robot0_frontview": {
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+        2.1323365438271265,
+        -0.9063882683714639,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "task_refs": {
+        "knob": "rear_left",
+        "cookware_burner": "rear_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000021/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000021/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..87107d32b876c0f1c455ffae50c6762737ca6e48
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000021/ep_meta.json
@@ -0,0 +1,452 @@
+{
+    "layout_id": 43,
+    "style_id": 11,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.19439659994361227,
+                    -0.10836629619364739,
+                    0.45384256111761867
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_1.001_room": {
+            "cls": "Floor"
+        },
+        "floor_1.001_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.005_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.004_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.006_room": {
+            "cls": "WallAccessory"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "counter_corner_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_3_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_main_group_1": {
+            "cls": "Box"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_front_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_front_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "opencabinet_1_right_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "fridgesidebyside_right_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "singlecabinet_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_left_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_left_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_3_left_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_2_left_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_left_group_1": {
+            "cls": "Box"
+        },
+        "knife_block_left_group_1": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.8496457804408233,
+        -0.8861746815337628,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "front_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000022/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000022/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..41ce928c6ca782e9c4125ce1d79c93794418c4ae
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000022/ep_meta.json
@@ -0,0 +1,374 @@
+{
+    "layout_id": 59,
+    "style_id": 40,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "widestove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "kettle_non_electric",
+                    "receptacle",
+                    "kettle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "kettle_non_electric",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle006/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.28915312362904877,
+                    0.19777307900980082,
+                    0.4430062249049935
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_01_room": {
+            "cls": "Wall"
+        },
+        "wall_left_01_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_02_room": {
+            "cls": "Wall"
+        },
+        "wall_left_02_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_03_room": {
+            "cls": "Wall"
+        },
+        "wall_left_03_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_04_room": {
+            "cls": "Wall"
+        },
+        "wall_left_04_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_02_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_03_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_04_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_main_group_1": {
+            "cls": "Counter"
+        },
+        "widestove_main_group_1": {
+            "cls": "Stove"
+        },
+        "widestove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "singlecabinet_03_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_02_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_01_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_04_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.4590827492136493,
+        -1.0223496735859157,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707888166096549
+    ],
+    "task_refs": {
+        "knob": "front_right",
+        "cookware_burner": "rear_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000023/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000023/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c63c2407d447d215751a17148ce6a0ed5195a62
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000023/ep_meta.json
@@ -0,0 +1,446 @@
+{
+    "layout_id": 23,
+    "style_id": 52,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_left_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
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+                    0.02,
+                    0.02
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+                        0.7853981633974483,
+                        1.1780972450961724
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "kettle_non_electric",
+                    "receptacle",
+                    "kettle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "kettle_non_electric",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle013/model.xml"
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+                "name": "front_left"
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+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
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+            "cls": "WallAccessory"
+        },
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+            "cls": "WallAccessory"
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+            "cls": "WallAccessory"
+        },
+        "wall_accessory_7_room": {
+            "cls": "WallAccessory"
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+            "cls": "Window"
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+            "cls": "Window"
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+            "cls": "Stool"
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+            "cls": "Counter"
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+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "box_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "top_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
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+            "cls": "Counter"
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+        "stove_left_group": {
+            "cls": "Stove"
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+            "cls": "Counter"
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+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
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+            "cls": "HingeCabinet"
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+        "box_left_group": {
+            "cls": "Box"
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+        "stack_3_left_group_base": {
+            "cls": "Box"
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+        "stack_3_left_group_1": {
+            "cls": "Drawer"
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+        "stack_3_left_group_2": {
+            "cls": "Drawer"
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+        "stack_3_left_group_3": {
+            "cls": "Drawer"
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+        "stack_4_left_group_base": {
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+        "stack_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "toaster_left_group": {
+            "cls": "Toaster"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "box_right_group": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
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+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
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+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
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+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "island_1_island_group": {
+            "cls": "Counter"
+        },
+        "island_box_island_group": {
+            "cls": "Box"
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+        "island_2_island_group": {
+            "cls": "Counter"
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+        "panel_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_1": {
+            "cls": "PanelCabinet"
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+        "stack_1_island_group_base": {
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+        "panel_stack_2_island_group_1": {
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+    "gen_textures": {},
+    "lang": "Turn off the rear left burner of the stove.",
+    "fixture_refs": {},
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+    "task_refs": {
+        "knob": "rear_left",
+        "cookware_burner": "front_left"
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+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000024/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000024/model.xml.gz
new file mode 100644
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--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..a8d795c8647d465458eeac6809bd3e8b08e5cdea
--- /dev/null
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+{
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+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "fridge_1_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_main_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "stovetop_1_left_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "hood_left_group_1": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_front_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "panel_stack_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "box_island_group": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "paper_towel_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.7979207176067135,
+        -3.1298282435055516,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
+    ],
+    "task_refs": {
+        "knob": "rear_left",
+        "cookware_burner": "rear_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000026/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000026/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6320a9213067cec8dc6f136559e88591de06f0a7
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000026/ep_meta.json
@@ -0,0 +1,410 @@
+{
+    "layout_id": 21,
+    "style_id": 36,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_left_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.16654140081499832,
+                    -0.0996524021700794,
+                    0.48370738282279596
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_7_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "box_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "counter_3_left_group": {
+            "cls": "Counter"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_2": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.8933138357561502,
+        -1.9637472853869264,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "front_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000027/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000027/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc975f3a8408e1ad70bda199deb2caf3a2a55e23
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000027/ep_meta.json
@@ -0,0 +1,341 @@
+{
+    "layout_id": 55,
+    "style_id": 34,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.17332090342549974,
+                    0.1893655926075774,
+                    0.39483243421698316
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_02_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "fridgebottomfreezer_main_group_1": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridgebottomfreezer_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_05_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_05_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_14_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_13_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_06_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_06_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_07_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_07_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_7_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_8_island_group_1": {
+            "cls": "Box"
+        },
+        "paper_towel_island_group_1": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.233517863187255,
+        -1.0258909908370133,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5706379572530664
+    ],
+    "task_refs": {
+        "knob": "rear_right",
+        "cookware_burner": "rear_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000030/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000030/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4fb5966a12244b571ac174cf1d50e42f8152315
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000030/ep_meta.json
@@ -0,0 +1,400 @@
+{
+    "layout_id": 57,
+    "style_id": 43,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_island_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "saucepan",
+                    "receptacle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "saucepan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.16646512280112433,
+                    -0.09055386345125134,
+                    0.4619347540804282
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "cube_3_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_9_main_group_1": {
+            "cls": "Box"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "fridgesidebyside_main_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_5_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_4_left_group_1": {
+            "cls": "Box"
+        },
+        "counter_corner_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_04_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_05_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_05_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_10_left_group_1": {
+            "cls": "Box"
+        },
+        "cube_11_left_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_left_group_1": {
+            "cls": "Accessory"
+        },
+        "island_1_island_group_1": {
+            "cls": "Counter"
+        },
+        "island_2_island_group_1": {
+            "cls": "Counter"
+        },
+        "island_3_island_group_1": {
+            "cls": "Counter"
+        },
+        "stove_island_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_island_group_1": {
+            "cls": "Hood"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_07_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_07_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_06_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_09_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_08_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_08_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_08_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_10_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_10_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_11_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_11_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_11_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "cube_5_island_group_2": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        -2.2012480544435316,
+        -3.470535359981269,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "front_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000031/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000031/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c8c5ab40150800220238666c20ebcf013a8a342
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000031/ep_meta.json
@@ -0,0 +1,413 @@
+{
+    "layout_id": 27,
+    "style_id": 30,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_front_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot057/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.1800034429929901,
+                    0.1543295574593578,
+                    0.4390424604150111
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "window_group_3_room": {
+            "cls": "Window"
+        },
+        "window_group_4_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "sink_1_main_group": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "box_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "middle_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stove_front_group": {
+            "cls": "Stove"
+        },
+        "counter_2_front_group": {
+            "cls": "Counter"
+        },
+        "counter_3_front_group": {
+            "cls": "Counter"
+        },
+        "counter_4_front_group": {
+            "cls": "Counter"
+        },
+        "counter_5_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_front_group_2": {
+            "cls": "Drawer"
+        },
+        "box_1_front_group": {
+            "cls": "Box"
+        },
+        "box_2_front_group": {
+            "cls": "Box"
+        },
+        "box_3_front_group": {
+            "cls": "Box"
+        },
+        "hood_front_group": {
+            "cls": "Hood"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.101595420722928,
+        -1.9823242823397227,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -1.57079623937212
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "rear_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000032/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000032/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a293c0eb7c0c79d6fa53ce0be2b8db27fd743f32
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000032/ep_meta.json
@@ -0,0 +1,473 @@
+{
+    "layout_id": 17,
+    "style_id": 38,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stovetop_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_21/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.1486764208862963,
+                    0.16577926657652714,
+                    -0.003961471997002218
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "box_1_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_2_main_group_1": {
+            "cls": "Box"
+        },
+        "hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "cab_corner_main_group_1": {
+            "cls": "Box"
+        },
+        "cab_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_2_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "box_left_group_1": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_left_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_1_left_group_1": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_1_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "box_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_4_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "sink_1_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "cab_1_right_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_right_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.913157345671999,
+        -0.7549333110936935,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "task_refs": {
+        "knob": "rear_right",
+        "cookware_burner": "rear_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000033/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000033/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73e881e614748a128e0742ab72230b61ab8beda0
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000033/ep_meta.json
@@ -0,0 +1,422 @@
+{
+    "layout_id": 50,
+    "style_id": 56,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_right_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot057/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.1774782907777112,
+                    0.08868135148846559,
+                    0.42613691190457936
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3.001_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3.001_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "window_group_3_room": {
+            "cls": "Window"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_09_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_01_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_10_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_07_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_08_island_group_1": {
+            "cls": "Box"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        },
+        "hingecabinet_5_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_13_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_13_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_13_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_12_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_12_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_12_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_4_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_right_group_1": {
+            "cls": "Hood"
+        },
+        "stack_06_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_06_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_07_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_07_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_02_right_group_1": {
+            "cls": "Box"
+        },
+        "cube_11_right_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.391890974215732,
+        -2.0416842409735514,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -0.0001619848215634878
+    ],
+    "task_refs": {
+        "knob": "rear_right",
+        "cookware_burner": "rear_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000035/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000035/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a50b9a4efab62cfd70240f211991ebce14acc99
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000035/ep_meta.json
@@ -0,0 +1,419 @@
+{
+    "layout_id": 33,
+    "style_id": 57,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "widestove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot060/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.3027157456751799,
+                    0.10065979472291094,
+                    0.4450249861283757
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3.001_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3.001_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2.001_room": {
+            "cls": "Floor"
+        },
+        "floor_2.001_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "widestove_main_group_1": {
+            "cls": "Stove"
+        },
+        "widestove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear center burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.0023474706317312,
+        -0.9068227264070713,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "task_refs": {
+        "knob": "rear_center",
+        "cookware_burner": "rear_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000036/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000036/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..49f8a7c3a20b228611aeec0fb366de06859546f0
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000036/ep_meta.json
@@ -0,0 +1,452 @@
+{
+    "layout_id": 56,
+    "style_id": 25,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_center"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.00021140564751492624,
+                    0.15476023316796525,
+                    0.44016840716083067
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_center"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_02_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_03_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stack_13_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_13_island_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_04_island_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_12_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_12_island_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "opencabinet_2_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "opencabinet_3_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "cube_4_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_11_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_11_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_08_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_08_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_07_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_07_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_07_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_8_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_9_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_8_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_6_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_6_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_right_group_1_2": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_11_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_7_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_12_right_group_1": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_11_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_11_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_11_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_09_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_10_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_10_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.0800783812877075,
+        -0.9397687492298086,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.57064844767067
+    ],
+    "task_refs": {
+        "knob": "front_right",
+        "cookware_burner": "rear_center"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000037/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000037/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3aedcebd461d763dbc279d39a01e22e6298ca163
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000037/ep_meta.json
@@ -0,0 +1,428 @@
+{
+    "layout_id": 16,
+    "style_id": 39,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "kettle_non_electric",
+                    "receptacle",
+                    "kettle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "kettle_non_electric",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle006/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.19429186732020443,
+                    0.17967370885342657,
+                    0.45384265819829256
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_5_room": {
+            "cls": "Wall"
+        },
+        "wall_left_5_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_4_room": {
+            "cls": "Wall"
+        },
+        "wall_right_4_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "counter_corner_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_1_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_main_group_1": {
+            "cls": "Box"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "cab_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "sink_1_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "box_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "panel_stack_right_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_right_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "cab_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "box_1_island_group": {
+            "cls": "Box"
+        },
+        "box_2_island_group": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.7926921067074937,
+        -0.8125614648670321,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "rear_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000038/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000038/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcfa2297228eb2fc52921550b9799ba2e7f773bc
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000038/ep_meta.json
@@ -0,0 +1,332 @@
+{
+    "layout_id": 34,
+    "style_id": 26,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stovetop_left_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.25444405795717506,
+                    0.13746568195098444,
+                    -0.007280309186499837
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stovetop_left_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_left_group_1": {
+            "cls": "Oven"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "oven_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_1_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_left_group_1": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "paper_towel_island_group_1": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.7788452120712726,
+        -2.1663183957733123,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1412906566438026
+    ],
+    "task_refs": {
+        "knob": "rear_left",
+        "cookware_burner": "rear_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000040/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000040/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f191edc8007840b7059d3f03f5c06b7fe24954e9
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000040/ep_meta.json
@@ -0,0 +1,497 @@
+{
+    "layout_id": 29,
+    "style_id": 50,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stovetop_left_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "kettle_non_electric",
+                    "receptacle",
+                    "kettle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "kettle_non_electric",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle002/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.2318229089634729,
+                    0.13900181342313603,
+                    -0.007280309186499837
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "middle_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "panel_stack_main_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_main_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "stovetop_left_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_left_group": {
+            "cls": "Toaster"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "panel_box_1_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_3": {
+            "cls": "Drawer"
+        },
+        "panel_cab_2_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_cab_2_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "box_island_group": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.14656026058839222,
+        -4.295265590589089,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
+    ],
+    "task_refs": {
+        "knob": "rear_right",
+        "cookware_burner": "rear_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000041/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000041/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4fc0c0b98f0e01c799162e371f540c8a869a34a
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000041/ep_meta.json
@@ -0,0 +1,374 @@
+{
+    "layout_id": 59,
+    "style_id": 32,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "widestove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_center"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot057/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.004914930787441105,
+                    0.16063501550752776,
+                    0.47018691497155635
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_center"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_01_room": {
+            "cls": "Wall"
+        },
+        "wall_left_01_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_02_room": {
+            "cls": "Wall"
+        },
+        "wall_left_02_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_03_room": {
+            "cls": "Wall"
+        },
+        "wall_left_03_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_04_room": {
+            "cls": "Wall"
+        },
+        "wall_left_04_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_02_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_03_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_04_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_main_group_1": {
+            "cls": "Counter"
+        },
+        "widestove_main_group_1": {
+            "cls": "Stove"
+        },
+        "widestove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "singlecabinet_03_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_02_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_01_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_04_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.546471548581871,
+        -1.0340768349016793,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707888166096549
+    ],
+    "task_refs": {
+        "knob": "rear_left",
+        "cookware_burner": "rear_center"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000042/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000042/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3928cb186c9b9a04efa2bd17be06e980bc3e5c4d
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000042/ep_meta.json
@@ -0,0 +1,421 @@
+{
+    "layout_id": 13,
+    "style_id": 18,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_left_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "saucepan",
+                    "receptacle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "saucepan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_0/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.2927691542318729,
+                    -0.13797423643339302,
+                    0.44950546976329364
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "sink_1_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "box_2_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cab_corner_main_group_1": {
+            "cls": "Box"
+        },
+        "cab_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stove_left_group_1": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_group_1": {
+            "cls": "Box"
+        },
+        "hood_left_group_1": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "box_right_group_1": {
+            "cls": "Box"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_1_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "dining_front_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group_1": {
+            "cls": "Counter"
+        },
+        "cube_front_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_front_group_1_3": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.9191149147891773,
+        -1.4393650828524591,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "front_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000043/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000043/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..855eb9e7dded40291140374d3a4239b1bb7a78a4
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000043/ep_meta.json
@@ -0,0 +1,419 @@
+{
+    "layout_id": 46,
+    "style_id": 15,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_10/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.30271003301181176,
+                    0.10064760959071105,
+                    0.44502492221858164
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_06_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_03_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_04_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_5_room": {
+            "cls": "Stool"
+        },
+        "stool_6_room": {
+            "cls": "Stool"
+        },
+        "dining_dining_area_group": {
+            "cls": "Counter"
+        },
+        "cube_1_dining_area_group": {
+            "cls": "Box"
+        },
+        "cube_2_dining_area_group": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "hingecabinet_02_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_01_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_01_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_front_group_1": {
+            "cls": "Sink"
+        },
+        "counter_2_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_05_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_05_front_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_08_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_08_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_front_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_12_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_12_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_12_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "plant_front_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_front_group_1": {
+            "cls": "Accessory"
+        },
+        "cube_1_front_group_2": {
+            "cls": "Box"
+        },
+        "stack_11_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_11_front_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_10_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_10_front_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_09_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_09_front_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_2_front_group_2": {
+            "cls": "Box"
+        },
+        "stack_13_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_13_front_group_2_1": {
+            "cls": "SingleCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.021081236829878,
+        -1.009476799286687,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5706378976484208
+    ],
+    "task_refs": {
+        "knob": "rear_left",
+        "cookware_burner": "rear_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000044/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000044/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7352e6ebc7a84c478a7474221426d65a1a9dd7a1
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000044/ep_meta.json
@@ -0,0 +1,491 @@
+{
+    "layout_id": 20,
+    "style_id": 20,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot057/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.2615436685988224,
+                    -0.11666883610262072,
+                    0.44016840716083067
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_left_group": {
+            "cls": "Counter"
+        },
+        "sink_1_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "box_1_left_group": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_2_left_group": {
+            "cls": "Box"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_left_group": {
+            "cls": "Box"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "panel_stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "panel_stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_island_group_2": {
+            "cls": "Counter"
+        },
+        "panel_stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_2_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "panel_stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_2_1": {
+            "cls": "PanelCabinet"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "fridge_1_front_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "box_front_group_1": {
+            "cls": "Box"
+        },
+        "cab_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_front_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_front_group_2": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_front_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_front_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_front_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_front_group_2": {
+            "cls": "ToasterOven"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.353647935425967,
+        -0.8710331507386473,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "task_refs": {
+        "knob": "front_right",
+        "cookware_burner": "front_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000045/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000045/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..09943eceaeed227fd1df82acf1da03ebc99333c0
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000045/ep_meta.json
@@ -0,0 +1,355 @@
+{
+    "layout_id": 44,
+    "style_id": 40,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_left_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "saucepan",
+                    "receptacle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "saucepan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan004/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.1699797087870866,
+                    -0.06931179988533402,
+                    0.471831195327171
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.005_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.004_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_main_group_1": {
+            "cls": "Box"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "fridgesidebyside_main_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stove_left_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_3_left_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_left_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_left_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_left_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+                -0.35,
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+            "parent_body": "mobilebase0_support"
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+                0.95
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+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
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+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.6424289033840678,
+        -1.6841604409795505,
+        0.0
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+        0.0,
+        0.0,
+        3.1412906566438026
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+    "task_refs": {
+        "knob": "rear_right",
+        "cookware_burner": "front_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000047/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000047/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce7cc245a1ffec9f359dee5042f27159ce1121f6
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000047/ep_meta.json
@@ -0,0 +1,413 @@
+{
+    "layout_id": 42,
+    "style_id": 53,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stovetop_right_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "kettle_non_electric",
+                    "receptacle",
+                    "kettle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "kettle_non_electric",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle005/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.13178297413314466,
+                    -0.02013347511727076,
+                    -0.003961471997002218
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "stovetop_right_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_right_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "knifeblock_left_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "plant_left_group_1": {
+            "cls": "Accessory"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
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+    "init_robot_base_pos": [
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+        0.0,
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+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "front_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000048/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000048/model.xml.gz
new file mode 100644
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000052/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000052/ep_meta.json
new file mode 100644
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+{
+    "layout_id": 53,
+    "style_id": 50,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_right_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot064/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.16618790833424246,
+                    0.14863972696327488,
+                    0.4837074381716271
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_4_room": {
+            "cls": "Wall"
+        },
+        "wall_front_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "dining_dining_area_group_1": {
+            "cls": "Counter"
+        },
+        "stack_3_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_dining_area_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_dining_area_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_dining_area_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_dining_area_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_dining_area_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_6_dining_area_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_dining_area_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_right_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_4_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_5_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_6_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_6_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_7_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_8_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_8_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "hingecabinet_4_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_3_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_9_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_9_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_1_front_group_1": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_front_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_2_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_front_group_1": {
+            "cls": "CoffeeMachine"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.890569156330907,
+        -3.4956642769383004,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -0.0001513629834557495
+    ],
+    "task_refs": {
+        "knob": "rear_left",
+        "cookware_burner": "rear_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000054/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000054/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b16da24288c7c13d12c60b291a2d52ee37e709a9
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000054/ep_meta.json
@@ -0,0 +1,365 @@
+{
+    "layout_id": 58,
+    "style_id": 17,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_island_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_10/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.16961108907365305,
+                    -0.14769091467718246,
+                    0.3066376428402726
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_7_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_03_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_02_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "window_group_3_room": {
+            "cls": "Window"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_14_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_15_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "oven_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_1_island_group_1": {
+            "cls": "Counter"
+        },
+        "island_2_island_group_1": {
+            "cls": "Counter"
+        },
+        "island_3_island_group_1": {
+            "cls": "Counter"
+        },
+        "stove_island_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_island_group_1": {
+            "cls": "Hood"
+        },
+        "stack_06_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_06_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_07_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_07_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_07_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_08_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_16_island_group_1": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.722281141674942,
+        -2.1394707334138667,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        4.7122376720160215
+    ],
+    "task_refs": {
+        "knob": "front_right",
+        "cookware_burner": "front_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000055/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000055/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0c1f3f67ad457a0a8cf1bd9054d3da3c6436290
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000055/ep_meta.json
@@ -0,0 +1,388 @@
+{
+    "layout_id": 45,
+    "style_id": 55,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_right_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "saucepan",
+                    "receptacle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "saucepan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.14892991335750097,
+                    -0.09519660879380422,
+                    0.46313426675014535
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.004_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "fridgesidebyside_right_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "panelbox_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panelbox_2_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "panelbox_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panelbox_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.882916225911169,
+        -2.0692187805034927,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        0.00030199704781619374
+    ],
+    "task_refs": {
+        "knob": "front_right",
+        "cookware_burner": "front_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000056/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000056/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d623d605dc5fda812c7f61160922bfe1a84a82a
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000056/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 43,
+    "style_id": 32,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "saucepan",
+                    "receptacle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "saucepan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_17/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.18988406409958983,
+                    0.1853399893304247,
+                    0.45384259347784334
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_1.001_room": {
+            "cls": "Floor"
+        },
+        "floor_1.001_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.005_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.004_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.006_room": {
+            "cls": "WallAccessory"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "counter_corner_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_3_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_main_group_1": {
+            "cls": "Box"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_front_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_front_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "opencabinet_1_right_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "fridgesidebyside_right_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "singlecabinet_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_left_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_left_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_3_left_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_2_left_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_left_group_1": {
+            "cls": "Box"
+        },
+        "knife_block_left_group_1": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.678958534962331,
+        -0.8145468225460765,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "task_refs": {
+        "knob": "rear_right",
+        "cookware_burner": "rear_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000057/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000057/model.xml.gz
new file mode 100644
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--- /dev/null
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+size 54527
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000057/rewards_dense.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000057/rewards_dense.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000057/states.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000057/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..43bf08d4bbff9d2e571b2ab083ee9f50888775b8
--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000058/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000058/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..72fd1fc7b59633009131093ad5403073dfa8ec55
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000058/ep_meta.json
@@ -0,0 +1,400 @@
+{
+    "layout_id": 57,
+    "style_id": 58,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_island_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
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+                "groups_containing_sampled_obj": [
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+                    "receptacle",
+                    "cookware"
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+                "cat": "saucepan",
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+                    0.1,
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+    "fixtures": {
+        "wall_right_1_room": {
+            "cls": "Wall"
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+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
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+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
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+        "window_group_1_room": {
+            "cls": "Window"
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+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
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+        "sink_main_group_1": {
+            "cls": "Sink"
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+            "cls": "Counter"
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+        "cube_3_main_group_1": {
+            "cls": "Box"
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+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
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+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
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+            "cls": "Dishwasher"
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+        "cube_9_main_group_1": {
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+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "fridgesidebyside_main_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
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+        "bottom_main_group_1_base": {
+            "cls": "Box"
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+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_5_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_4_left_group_1": {
+            "cls": "Box"
+        },
+        "counter_corner_1_left_group_1": {
+            "cls": "Counter"
+        },
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+            "cls": "Counter"
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+        "stack_04_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_05_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_05_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_10_left_group_1": {
+            "cls": "Box"
+        },
+        "cube_11_left_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_left_group_1": {
+            "cls": "Accessory"
+        },
+        "island_1_island_group_1": {
+            "cls": "Counter"
+        },
+        "island_2_island_group_1": {
+            "cls": "Counter"
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+        "island_3_island_group_1": {
+            "cls": "Counter"
+        },
+        "stove_island_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_island_group_1": {
+            "cls": "Hood"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
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+        "stack_07_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_07_island_group_1_2": {
+            "cls": "Drawer"
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+        "stack_06_island_group_1_base": {
+            "cls": "Box"
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+        "stack_06_island_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_06_island_group_1_2": {
+            "cls": "Drawer"
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+        "stack_09_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_09_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_08_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_08_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_08_island_group_2_2": {
+            "cls": "Drawer"
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+        "stack_10_island_group_2_base": {
+            "cls": "Box"
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+        "stack_10_island_group_2_1": {
+            "cls": "SingleCabinet"
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+            "cls": "Box"
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+        "stack_11_island_group_2_1": {
+            "cls": "SingleCabinet"
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+        "stack_11_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "cube_5_island_group_2": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
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+        "robot0_agentview_left": {
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+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+                -0.5,
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
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+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        -2.2130242332696697,
+        -3.6568309448523912,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
+    ],
+    "task_refs": {
+        "knob": "front_right",
+        "cookware_burner": "front_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000060/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000060/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fb688794a13d64df7593f076ba809c6683c8d75
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000060/ep_meta.json
@@ -0,0 +1,424 @@
+{
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+    "style_id": 32,
+    "object_cfgs": [
+        {
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+            "obj_groups": "cookware",
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+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
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+            "type": "object",
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+                    "all",
+                    "saucepan",
+                    "receptacle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
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+                "cat": "saucepan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan006/model.xml"
+            },
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+        }
+    ],
+    "fixtures": {
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+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
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+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
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+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_02_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_03_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_04_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_05_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_06_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_07_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_05_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_4_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_5_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_07_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_08_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_08_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_09_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_11_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_11_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_11_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_10_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_10_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        6.285147818491166,
+        -0.8189239040380261,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.57064844767067
+    ],
+    "task_refs": {
+        "knob": "front_right",
+        "cookware_burner": "front_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000061/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000061/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f19e1d937229af7e95a061e7f3d02574ba52497
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000061/ep_meta.json
@@ -0,0 +1,382 @@
+{
+    "layout_id": 38,
+    "style_id": 38,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_left_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "saucepan",
+                    "receptacle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "saucepan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan002/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.1769749540436422,
+                    -0.09697025316399842,
+                    0.4799969710344246
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.005_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.004_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.007_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "opencabinet_1_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "opencabinet_2_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stove_left_group_1": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "fridgesidebyside_left_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "knifeblock_left_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.8370712207777177,
+        -4.400369701005928,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1412906566438026
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "front_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000062/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000062/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..83bcacb4d0d775cc64bd1a956cce8f6818b19c24
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000062/ep_meta.json
@@ -0,0 +1,389 @@
+{
+    "layout_id": 60,
+    "style_id": 28,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.16654140081499832,
+                    -0.0996524021700794,
+                    0.48370738282279596
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_01_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_04_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_12_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_06_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_07_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_08_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_09_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_10_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_11_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_01_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_02_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_3_main_group_1": {
+            "cls": "Box"
+        },
+        "singlecabinet_01_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_11_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_12_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "fridgebottomfreezer_right_group_1": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridgebottomfreezer_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_05_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_6_right_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_04_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_06_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_8_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_8_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_13_right_group_1": {
+            "cls": "Box"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_left_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "counter_5_left_group_1": {
+            "cls": "Counter"
+        },
+        "cube_1_left_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_4_left_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_left_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_left_group_1": {
+            "cls": "Dishwasher"
+        },
+        "toaster_left_group_1": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.033631561720656,
+        -0.8442243506928107,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "task_refs": {
+        "knob": "front_right",
+        "cookware_burner": "front_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000063/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000063/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fb671f5ebfc5edac5d2eafc021bc696c7ceb57b
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000063/ep_meta.json
@@ -0,0 +1,490 @@
+{
+    "layout_id": 20,
+    "style_id": 24,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "saucepan",
+                    "receptacle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "saucepan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_0/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.2639361042517453,
+                    0.15454744163682288,
+                    0.44016840716083067
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_left_group": {
+            "cls": "Counter"
+        },
+        "sink_1_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "box_1_left_group": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_2_left_group": {
+            "cls": "Box"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_left_group": {
+            "cls": "Box"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "panel_stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "panel_stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_island_group_2": {
+            "cls": "Counter"
+        },
+        "panel_stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_2_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "panel_stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_2_1": {
+            "cls": "PanelCabinet"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "fridge_1_front_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "box_front_group_1": {
+            "cls": "Box"
+        },
+        "cab_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_front_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_front_group_2": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_front_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_front_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_front_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_front_group_2": {
+            "cls": "ToasterOven"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
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+    }
+}
\ No newline at end of file
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+    }
+}
\ No newline at end of file
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+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_3_room": {
+            "cls": "Floor"
+        },
+        "floor_3_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_4_room": {
+            "cls": "Floor"
+        },
+        "floor_4_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_5_room": {
+            "cls": "Stool"
+        },
+        "stool_6_room": {
+            "cls": "Stool"
+        },
+        "sink_1_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_left_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "stovetop_dining_area_group_1": {
+            "cls": "Stovetop"
+        },
+        "dining_dining_area_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_dining_area_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_dining_area_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_dining_area_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dining_dining_area_group_2": {
+            "cls": "Counter"
+        },
+        "stack_1_dining_area_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_dining_area_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_dining_area_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_dining_area_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_dining_area_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_dining_area_group_2_2": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.2109594486305646,
+        -2.4231658522844937,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -1.57079623937212
+    ],
+    "task_refs": {
+        "knob": "front_right",
+        "cookware_burner": "rear_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000070/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000070/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..e3a4b9b0e8a9ee13746363db8de2f157030b81a0
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 69336
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000070/rewards_dense.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000070/rewards_dense.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9c0a130b21599f56b253097731a9f59753ffd2eb
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000070/rewards_dense.npz
@@ -0,0 +1,3 @@
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+size 602
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000070/states.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000070/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6d900452c2d70ad1d0a3667223fee6e54648bca2
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000070/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 119192
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000071/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000071/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f292f2925b302b4257681b04d2ca3498516f7cd3
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000071/ep_meta.json
@@ -0,0 +1,383 @@
+{
+    "layout_id": 38,
+    "style_id": 12,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_left_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
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+                        1.1780972450961724
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_11/model.xml"
+            },
+            "reset_region": {
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+                    -0.09795662966306808,
+                    0.45384256111761867
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+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.005_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.004_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.007_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "opencabinet_1_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "opencabinet_2_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
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+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stove_left_group_1": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "fridgesidebyside_left_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "knifeblock_left_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
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+            "cls": "Drawer"
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+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                1.15
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+                0.29935253,
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+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+                -0.35,
+                1.05
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+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.8705252409471256,
+        -4.581041881489995,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1412906566438026
+    ],
+    "task_refs": {
+        "knob": "front_right",
+        "cookware_burner": "front_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000072/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000072/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..863590b8e08a43dd4953b834214c4798d32f4d6f
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000072/ep_meta.json
@@ -0,0 +1,497 @@
+{
+    "layout_id": 29,
+    "style_id": 42,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stovetop_left_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.288964293180445,
+                    -0.016386313226351992,
+                    0.022934635332920957
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "middle_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "panel_stack_main_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_main_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "stovetop_left_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_left_group": {
+            "cls": "Toaster"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "panel_box_1_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_3": {
+            "cls": "Drawer"
+        },
+        "panel_cab_2_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_cab_2_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "box_island_group": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.15884560664475592,
+        -4.130853578260421,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "front_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000073/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000073/model.xml.gz
new file mode 100644
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--- /dev/null
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new file mode 100644
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new file mode 100644
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new file mode 100644
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--- /dev/null
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000075/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000075/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a299be4c01ff73957cc6638186a4be5ab1766c6
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000075/ep_meta.json
@@ -0,0 +1,401 @@
+{
+    "layout_id": 48,
+    "style_id": 39,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "widestove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot057/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.2615436685988224,
+                    -0.11666883610262072,
+                    0.44016840716083067
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "lightswitch_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_6_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_3_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "opencabinet_right_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_3_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_04_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_06_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_03_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_03_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_05_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "widestove_main_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_4_main_group_1": {
+            "cls": "Box"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_08_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_08_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_08_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_07_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_07_island_group_1_2": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.7933226423963133,
+        -1.0084615423355243,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5706378976484208
+    ],
+    "task_refs": {
+        "knob": "front_right",
+        "cookware_burner": "front_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000076/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000076/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bc7e5a5042cb75049d4429191babf5195e9fa81
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000076/ep_meta.json
@@ -0,0 +1,409 @@
+{
+    "layout_id": 21,
+    "style_id": 45,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_left_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "saucepan",
+                    "receptacle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "saucepan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.17274475570518413,
+                    0.18938031569521435,
+                    0.39483243421698316
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_7_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "box_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "counter_3_left_group": {
+            "cls": "Counter"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_2": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.8850555664643384,
+        -1.9290779271858418,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
+    ],
+    "task_refs": {
+        "knob": "rear_right",
+        "cookware_burner": "rear_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000077/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000077/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9413a747cb3228e6dabc2933645c42c93fae683
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000077/ep_meta.json
@@ -0,0 +1,425 @@
+{
+    "layout_id": 51,
+    "style_id": 20,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.1763172679128117,
+                    0.1573408155818936,
+                    0.4799969710344246
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_02_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_03_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_04_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_05_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_06_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_07_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_05_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_4_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_5_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_07_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_08_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_08_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_09_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_11_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_11_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_11_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_10_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_10_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        6.281657539421078,
+        -0.8941181904979261,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.57064844767067
+    ],
+    "task_refs": {
+        "knob": "front_right",
+        "cookware_burner": "rear_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000079/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000079/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8aef2a0f9a938d9554402f18ffdf95c46156021c
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000079/ep_meta.json
@@ -0,0 +1,455 @@
+{
+    "layout_id": 35,
+    "style_id": 44,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stovetop_left_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_11/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.1554448332721037,
+                    0.1345584719579988,
+                    0.020677267972846806
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "box_1_main_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "knifeblock_main_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_3_right_group_1": {
+            "cls": "Box"
+        },
+        "stovetop_left_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_left_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "coffeemachine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_island_group": {
+            "cls": "Counter"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "stack_2_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_dining_area_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stool_3_stool_group_1": {
+            "cls": "Stool"
+        },
+        "stool_2_stool_group_1": {
+            "cls": "Stool"
+        },
+        "stool_1_stool_group_1": {
+            "cls": "Stool"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.7980118814355605,
+        -1.4120086050978153,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415924507432367
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "rear_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000080/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000080/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..24b239988e0afa86654fabca97ad0a795c67388d
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000080/ep_meta.json
@@ -0,0 +1,404 @@
+{
+    "layout_id": 53,
+    "style_id": 11,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_right_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.19429186732020443,
+                    0.17967370885342657,
+                    0.45384265819829256
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_4_room": {
+            "cls": "Wall"
+        },
+        "wall_front_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "dining_dining_area_group_1": {
+            "cls": "Counter"
+        },
+        "stack_3_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_dining_area_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_dining_area_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_dining_area_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_dining_area_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_dining_area_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_6_dining_area_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_dining_area_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_right_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_4_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_5_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_6_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_6_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_7_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_8_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_8_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "hingecabinet_4_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_3_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_9_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_9_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_1_front_group_1": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_front_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_2_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_front_group_1": {
+            "cls": "CoffeeMachine"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.893489844876087,
+        -3.5703036435979323,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -0.0001513629834557495
+    ],
+    "task_refs": {
+        "knob": "rear_left",
+        "cookware_burner": "rear_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000081/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000081/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0927ca722f403f07517906437acc694290ce97ae
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000081/ep_meta.json
@@ -0,0 +1,335 @@
+{
+    "layout_id": 37,
+    "style_id": 39,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stovetop_left_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_23/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.1527422659167995,
+                    -0.02707668179549161,
+                    -0.003961471997002218
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_left_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_1_left_group_1": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_left_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "papertowel_left_group_1": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_left_group_1": {
+            "cls": "Toaster"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_5_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.7778636386690537,
+        -2.429157201388714,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1412906566438026
+    ],
+    "task_refs": {
+        "knob": "rear_right",
+        "cookware_burner": "front_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000082/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000082/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..28810f9412049ffa7bbb2d801646f2ec7f5a1871
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000082/ep_meta.json
@@ -0,0 +1,490 @@
+{
+    "layout_id": 20,
+    "style_id": 17,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "saucepan",
+                    "receptacle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "saucepan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.27738938559084686,
+                    -0.14445980964426292,
+                    0.4492222084256619
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_left_group": {
+            "cls": "Counter"
+        },
+        "sink_1_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "box_1_left_group": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_2_left_group": {
+            "cls": "Box"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_left_group": {
+            "cls": "Box"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "panel_stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "panel_stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_island_group_2": {
+            "cls": "Counter"
+        },
+        "panel_stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_2_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "panel_stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_2_1": {
+            "cls": "PanelCabinet"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "fridge_1_front_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "box_front_group_1": {
+            "cls": "Box"
+        },
+        "cab_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_front_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_front_group_2": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_front_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_front_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_front_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_front_group_2": {
+            "cls": "ToasterOven"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.3587490499556725,
+        -0.9160286246738738,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "front_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000083/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000083/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7dd7e6c86464bc4dbcee3adab6b8154ad9724d1
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000083/ep_meta.json
@@ -0,0 +1,560 @@
+{
+    "layout_id": 39,
+    "style_id": 55,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stovetop_island_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.2318229089634729,
+                    0.13900181342313603,
+                    -0.007280309186499837
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_5_room": {
+            "cls": "Wall"
+        },
+        "wall_front_5_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_5_room": {
+            "cls": "Wall"
+        },
+        "wall_right_5_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_4_room": {
+            "cls": "Wall"
+        },
+        "wall_front_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_4_room": {
+            "cls": "Wall"
+        },
+        "wall_right_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_6_room": {
+            "cls": "Wall"
+        },
+        "wall_front_6_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_7_room": {
+            "cls": "Wall"
+        },
+        "wall_front_7_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_3_room": {
+            "cls": "Floor"
+        },
+        "floor_3_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_6.001_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "knifeblock_main_group_1": {
+            "cls": "Accessory"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "stovetop_island_group_1": {
+            "cls": "Stovetop"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_2.001_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_2.001_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_2.001_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_island_group_2.001_base": {
+            "cls": "Box"
+        },
+        "stack_6_island_group_2.001_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_island_group_2.001_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_island_group_2.001_base": {
+            "cls": "Box"
+        },
+        "stack_7_island_group_2.001_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_7_island_group_2.001_2": {
+            "cls": "Drawer"
+        },
+        "stack_8_island_group_2.001_base": {
+            "cls": "Box"
+        },
+        "stack_8_island_group_2.001_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_8_island_group_2.001_2": {
+            "cls": "Drawer"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_2_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_front_group_1_3": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_front_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_front_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffeemachine_front_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_front_group_1": {
+            "cls": "ToasterOven"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.7886912431825936,
+        -3.6395283405428613,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "task_refs": {
+        "knob": "rear_right",
+        "cookware_burner": "rear_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000084/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000084/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee32e38aae71507b6bbfc49c7f0c94b6912633f0
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000084/ep_meta.json
@@ -0,0 +1,314 @@
+{
+    "layout_id": 40,
+    "style_id": 39,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_right_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot057/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.19439659994361227,
+                    -0.10836629619364739,
+                    0.45384256111761867
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "box_2_right_group_1": {
+            "cls": "Box"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.8605661238443023,
+        -3.4012250393415875,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        0.00030199704781619374
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "front_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000085/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000085/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c45b208e49d77f4daad0441e2c21f03671866921
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000085/ep_meta.json
@@ -0,0 +1,362 @@
+{
+    "layout_id": 41,
+    "style_id": 46,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_right_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot057/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.1769749540436422,
+                    -0.09697025316399842,
+                    0.4799969710344246
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "fridgesidebyside_main_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_right_group_1": {
+            "cls": "Hood"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "island_island_group_2": {
+            "cls": "Counter"
+        },
+        "stack_4_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "paper_towel_island_group_2": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.691038460091724,
+        -3.501034815883123,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        0.00030199704781619374
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "front_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000086/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000086/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cccdff7c2a2d0b3840be9a56eb49cc3cb93c2515
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000086/ep_meta.json
@@ -0,0 +1,421 @@
+{
+    "layout_id": 13,
+    "style_id": 32,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_left_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "saucepan",
+                    "receptacle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "saucepan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan004/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.2561933150178933,
+                    -0.12491627813324865,
+                    0.47018691497155635
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "sink_1_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "box_2_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cab_corner_main_group_1": {
+            "cls": "Box"
+        },
+        "cab_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stove_left_group_1": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_group_1": {
+            "cls": "Box"
+        },
+        "hood_left_group_1": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "box_right_group_1": {
+            "cls": "Box"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_1_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "dining_front_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group_1": {
+            "cls": "Counter"
+        },
+        "cube_front_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_front_group_1_3": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
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+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
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+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_left": {
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+                1.05
+            ],
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
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+                1.05
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+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
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+            "camera_attribs": {
+                "fovy": "60"
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+            "parent_body": "mobilebase0_support"
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+        "robot0_frontview": {
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+                0.95
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+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
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+                0.05,
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+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
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+    },
+    "init_robot_base_pos": [
+        0.9046588246997576,
+        -1.5266304846096799,
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
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+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "front_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000087/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000087/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..db499eef92dbb72bc4238729553a4068c55d0abb
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000087/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:225531cd3a7eab36ceeaf1bf4e878e120ca7d73239d6bb36da451e915d93c5fe
+size 57501
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000087/rewards_dense.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000087/rewards_dense.npz
new file mode 100644
index 0000000000000000000000000000000000000000..284849fffe13271c9234c0bc3534e2564454c1a1
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000087/rewards_dense.npz
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+size 606
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000087/states.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000087/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1a818d4e1ba455342e4fe554be575c69d810df3b
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000087/states.npz
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+version https://git-lfs.github.com/spec/v1
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+size 171232
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000089/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000089/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7876772813e3887999ce4173e4e2317e247527b3
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000089/ep_meta.json
@@ -0,0 +1,431 @@
+{
+    "layout_id": 18,
+    "style_id": 34,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stovetop_left_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "center"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_21/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.0004844644413591598,
+                    0.020646327310373733,
+                    0.0087095887489308
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "center"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_5_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_6_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_7_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "stovetop_left_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_5": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_6": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_5": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_6": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "sink_1_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "box_1_right_group": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_right_group": {
+            "cls": "Dishwasher"
+        },
+        "panel_stack_right_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_right_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "wall_stack_right_group_base": {
+            "cls": "Box"
+        },
+        "wall_stack_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the center burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.7868512928104974,
+        -4.337082640975237,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.141592787948654
+    ],
+    "task_refs": {
+        "knob": "center",
+        "cookware_burner": "center"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000090/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000090/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..470b67329aa7d62c40afc573afc79a48c82fbe3e
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000090/ep_meta.json
@@ -0,0 +1,581 @@
+{
+    "layout_id": 25,
+    "style_id": 26,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.2561933150178933,
+                    -0.12491627813324865,
+                    0.47018691497155635
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_7_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_main_group": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_2_main_group": {
+            "cls": "Box"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_corner_1_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_above_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_above_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_above_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_above_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_1_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_5_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "corner_counter_right_group": {
+            "cls": "Counter"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "box_right_group": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "middle_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_4": {
+            "cls": "Drawer"
+        },
+        "plant_right_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_2_2": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.7296124857331443,
+        -0.9487619377345325,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "task_refs": {
+        "knob": "rear_right",
+        "cookware_burner": "front_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000091/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000091/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e67f879c2be48591f2ed0cdc86243013a46e1fdb
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000091/ep_meta.json
@@ -0,0 +1,407 @@
+{
+    "layout_id": 47,
+    "style_id": 24,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "kettle_non_electric",
+                    "receptacle",
+                    "kettle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "kettle_non_electric",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle001/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.1699797087870866,
+                    -0.06931179988533402,
+                    0.471831195327171
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_02_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_6.001_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "hingecabinet_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_03_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_05_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_05_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "box_05_right_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_06_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_06_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_08_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_08_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "hingecabinet_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_05_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_02_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_01_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_front_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_front_group_1": {
+            "cls": "Toaster"
+        },
+        "fridgesidebyside_main_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_02_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_01_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "counter_04_front_group_2": {
+            "cls": "Counter"
+        },
+        "stack_10_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_10_front_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_10_front_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_10_front_group_2_3": {
+            "cls": "Drawer"
+        },
+        "stack_10_front_group_2_4": {
+            "cls": "Drawer"
+        },
+        "stack_09_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_09_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_09_front_group_2_2": {
+            "cls": "Drawer"
+        },
+        "cube_front_group_2": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.354076709440884,
+        -0.9510037995223494,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5706378857158503
+    ],
+    "task_refs": {
+        "knob": "rear_right",
+        "cookware_burner": "front_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000092/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000092/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8f53058a525ae611ca312032c98aef28e29eb57
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000092/ep_meta.json
@@ -0,0 +1,421 @@
+{
+    "layout_id": 50,
+    "style_id": 34,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_right_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "saucepan",
+                    "receptacle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "saucepan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_17/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.1728141384636687,
+                    -0.08637226381397044,
+                    0.39483243421698316
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3.001_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3.001_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "window_group_3_room": {
+            "cls": "Window"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_09_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_01_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_10_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_07_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_08_island_group_1": {
+            "cls": "Box"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        },
+        "hingecabinet_5_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_13_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_13_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_13_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_12_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_12_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_12_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_4_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_right_group_1": {
+            "cls": "Hood"
+        },
+        "stack_06_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_06_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_07_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_07_right_group_1_2": {
+            "cls": "Drawer"
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+        "cube_02_right_group_1": {
+            "cls": "Box"
+        },
+        "cube_11_right_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
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+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
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+        "robot0_frontview": {
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+                -0.5,
+                0,
+                0.95
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+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.4105122748320635,
+        -2.166708218685003,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -0.0001619848215634878
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "front_right"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000093/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000093/model.xml.gz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000093/rewards_dense.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000093/rewards_dense.npz
new file mode 100644
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--- /dev/null
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000093/states.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000093/states.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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+size 175254
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000094/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000094/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54823b371c6609a79e82db3229c402c87413c3da
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000094/ep_meta.json
@@ -0,0 +1,362 @@
+{
+    "layout_id": 41,
+    "style_id": 13,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_right_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
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+            "type": "object",
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+                    "all",
+                    "kettle_non_electric",
+                    "receptacle",
+                    "kettle",
+                    "cookware"
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+                "groups": [
+                    "cookware"
+                ],
+                "cat": "kettle_non_electric",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle013/model.xml"
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+            "reset_region": {
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+                    -0.09538413197584153,
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+                    0.1,
+                    0.1
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+                "name": "front_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
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+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "fridgesidebyside_main_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_right_group_1": {
+            "cls": "Hood"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "Drawer"
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+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
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+        "island_island_group_2": {
+            "cls": "Counter"
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+        "paper_towel_island_group_2": {
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+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
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+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.635824521450804,
+        -3.6915218172514384,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        0.00030199704781619374
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "front_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000095/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000095/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..46184b0b5e2dd3e2d6619869c9c1580d7d9d53f7
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000095/ep_meta.json
@@ -0,0 +1,491 @@
+{
+    "layout_id": 20,
+    "style_id": 18,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot064/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.2927691542318729,
+                    -0.13797423643339302,
+                    0.44950546976329364
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_left_group": {
+            "cls": "Counter"
+        },
+        "sink_1_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "box_1_left_group": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_2_left_group": {
+            "cls": "Box"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_left_group": {
+            "cls": "Box"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "panel_stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "panel_stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_island_group_2": {
+            "cls": "Counter"
+        },
+        "panel_stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_2_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "panel_stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_2_1": {
+            "cls": "PanelCabinet"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "fridge_1_front_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "box_front_group_1": {
+            "cls": "Box"
+        },
+        "cab_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_front_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_front_group_2": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_front_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_front_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_front_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_front_group_2": {
+            "cls": "ToasterOven"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.5195099186753858,
+        -0.9474985071713738,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "front_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000096/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000096/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..7b46e5f60217f01957df59b1390082eba06ae6c2
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000096/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00919b6c2d5cca1e6a210a1d7ffc1442ad4e66a63ebc5c5675063168f4f3c33f
+size 60400
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000096/rewards_dense.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000096/rewards_dense.npz
new file mode 100644
index 0000000000000000000000000000000000000000..df7068c6e11d478736eb13055cfedf38f3daeb76
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000096/rewards_dense.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 603
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000096/states.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000096/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3664276817c60ffcb2d2f9172f2204f0ecf3c6de
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000096/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32cb2c7bcd3451072218eb2b70b9c744128f005133afd7ac3c77915d2bdf620c
+size 146342
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000097/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000097/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..22f8f0a5ab03d9bb8cbd433c2e2434046fd705fc
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000097/ep_meta.json
@@ -0,0 +1,382 @@
+{
+    "layout_id": 38,
+    "style_id": 36,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_left_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "saucepan",
+                    "receptacle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "saucepan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_0/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.1634830763681588,
+                    -0.09961690942935982,
+                    0.48370738282279596
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.005_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.004_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.007_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "opencabinet_1_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "opencabinet_2_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stove_left_group_1": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "fridgesidebyside_left_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "knifeblock_left_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
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+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
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+            "cls": "Drawer"
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+            "cls": "Drawer"
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+        "cube_2_island_group_1": {
+            "cls": "Box"
+        }
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+    "gen_textures": {},
+    "lang": "Turn off the rear right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                0.0,
+                1.15
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+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
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+            "parent_body": "mobilebase0_support"
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+                -0.5,
+                0.35,
+                1.05
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+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "parent_body": "mobilebase0_support"
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+                -0.35,
+                1.05
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+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
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+                "fovy": "60"
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+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
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+            "camera_attribs": {
+                "fovy": "60"
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+        "robot0_eye_in_hand": {
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+                0,
+                0.707107,
+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
+        }
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+    "init_robot_base_pos": [
+        0.8677869753612645,
+        -4.502285042262528,
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1412906566438026
+    ],
+    "task_refs": {
+        "knob": "rear_right",
+        "cookware_burner": "front_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000098/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000098/model.xml.gz
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 56654
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000098/rewards_dense.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000098/rewards_dense.npz
new file mode 100644
index 0000000000000000000000000000000000000000..225ce3315198350132d6246eaaea531439c6b5f7
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 605
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000098/states.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000098/states.npz
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000099/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000099/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a2022982ac695cb414725ff68567ebadaf7c091
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000099/ep_meta.json
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+{
+    "layout_id": 56,
+    "style_id": 29,
+    "object_cfgs": [
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+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
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+                        "rear_left"
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+                    0.1
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+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
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+        "wall_main_1_backing_room": {
+            "cls": "Wall"
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+        "wall_right_1_room": {
+            "cls": "Wall"
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+        "wall_right_1_backing_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
+            "cls": "Floor"
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+        "floor_1_backing_room": {
+            "cls": "Floor"
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+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
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+        "lightswitch_03_room": {
+            "cls": "WallAccessory"
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+            "cls": "HingeCabinet"
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+            "cls": "HingeCabinet"
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+            "cls": "Box"
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+        "stack_12_island_group_2_1": {
+            "cls": "HingeCabinet"
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+            "cls": "SingleCabinet"
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+        "hingecabinet_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "opencabinet_2_main_group_1": {
+            "cls": "OpenCabinet"
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+        "opencabinet_3_main_group_1": {
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+        "counter_2_main_group_1": {
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+        "stove_main_group_1": {
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+            "cls": "Hood"
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+        "cube_4_main_group_1": {
+            "cls": "Box"
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+            "cls": "Box"
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+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
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+        "stack_02_main_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_04_main_group_1_3": {
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+        "stack_06_main_group_1_base": {
+            "cls": "Box"
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+        "stack_06_main_group_1_1": {
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+        "stack_07_main_group_1_1": {
+            "cls": "Drawer"
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+            "cls": "Drawer"
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+        "stack_07_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_8_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
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+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
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+        "singlecabinet_1_right_group_1": {
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+        "hingecabinet_1_right_group_1": {
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+        "stack_4_right_group_1_1": {
+            "cls": "SingleCabinet"
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+        "cube_11_right_group_1": {
+            "cls": "Box"
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+        "stack_7_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_12_right_group_1": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_11_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_11_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_11_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_09_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_10_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_10_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front center burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
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+                0.0,
+                1.15
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+        "knob": "front_center",
+        "cookware_burner": "rear_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000100/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000100/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fb4cfa0adfd2949867a5b0591346d0e726ab241
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000100/ep_meta.json
@@ -0,0 +1,388 @@
+{
+    "layout_id": 45,
+    "style_id": 14,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_right_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "saucepan",
+                    "receptacle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "saucepan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan002/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.1754603257291634,
+                    -0.12627014640950487,
+                    0.4390424604150111
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.004_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "fridgesidebyside_right_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "panelbox_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panelbox_2_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "panelbox_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panelbox_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.801921865141179,
+        -2.1556780113673204,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        0.00030199704781619374
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "front_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000102/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000102/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..580b4caf9a1821dc55cf5fd2b44a5ffbd3a11e82
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000102/ep_meta.json
@@ -0,0 +1,461 @@
+{
+    "layout_id": 22,
+    "style_id": 51,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stovetop_dining_area_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_center"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03170327089237661,
+                    0.14051257415730514,
+                    0.014643603891403078
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_center"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_3_room": {
+            "cls": "Floor"
+        },
+        "floor_3_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_4_room": {
+            "cls": "Floor"
+        },
+        "floor_4_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_5_room": {
+            "cls": "Stool"
+        },
+        "stool_6_room": {
+            "cls": "Stool"
+        },
+        "sink_1_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_left_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "stovetop_dining_area_group_1": {
+            "cls": "Stovetop"
+        },
+        "dining_dining_area_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_dining_area_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_dining_area_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_dining_area_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dining_dining_area_group_2": {
+            "cls": "Counter"
+        },
+        "stack_1_dining_area_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_dining_area_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_dining_area_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_dining_area_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_dining_area_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_dining_area_group_2_2": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear center burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.0514270951165994,
+        -2.4163804470185597,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -1.57079623937212
+    ],
+    "task_refs": {
+        "knob": "rear_center",
+        "cookware_burner": "rear_center"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000103/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000103/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4528df2deffd766e67d28ff363d1650535e741ed
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000103/ep_meta.json
@@ -0,0 +1,341 @@
+{
+    "layout_id": 55,
+    "style_id": 23,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_23/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.16961108907365305,
+                    -0.14769091467718246,
+                    0.3066376428402726
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_02_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "fridgebottomfreezer_main_group_1": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridgebottomfreezer_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_05_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_05_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_14_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_13_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_06_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_06_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_07_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_07_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_7_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_8_island_group_1": {
+            "cls": "Box"
+        },
+        "paper_towel_island_group_1": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.4815825262305564,
+        -1.0125231259591092,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5706379572530664
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "front_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000104/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000104/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68b7d8eb1fb01ade45d70e046635ddb521b2516d
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000104/ep_meta.json
@@ -0,0 +1,454 @@
+{
+    "layout_id": 35,
+    "style_id": 27,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stovetop_left_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "saucepan",
+                    "receptacle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "saucepan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan006/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.19619977311818096,
+                    -0.05402189906071078,
+                    0.010447450100023575
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "box_1_main_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "knifeblock_main_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_3_right_group_1": {
+            "cls": "Box"
+        },
+        "stovetop_left_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_left_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "coffeemachine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_island_group": {
+            "cls": "Counter"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "stack_2_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_dining_area_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stool_3_stool_group_1": {
+            "cls": "Stool"
+        },
+        "stool_2_stool_group_1": {
+            "cls": "Stool"
+        },
+        "stool_1_stool_group_1": {
+            "cls": "Stool"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
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+                -0.35,
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+                0.6088936924934387,
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+                -0.3673907518386841,
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+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
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+                0
+            ],
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+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
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+    "init_robot_base_pos": [
+        0.7910995454234746,
+        -1.2411640438294764,
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+        0.0,
+        0.0,
+        3.1415924507432367
+    ],
+    "task_refs": {
+        "knob": "rear_right",
+        "cookware_burner": "front_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000105/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000105/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fb7375c4492e64b43320d93041a938bc7e88f52
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000105/ep_meta.json
@@ -0,0 +1,428 @@
+{
+    "layout_id": 28,
+    "style_id": 37,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stovetop_island_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "kettle_non_electric",
+                    "receptacle",
+                    "kettle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "kettle_non_electric",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle018/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.15509513602728112,
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+                    0.020677267972846806
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+                    0.1,
+                    0.1
+                ],
+                "name": "rear_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
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+            "cls": "Wall"
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+        "wall_left_2_backing_room": {
+            "cls": "Wall"
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+        "wall_right_2_backing_room": {
+            "cls": "Wall"
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+            "cls": "Floor"
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+        "floor_1_backing_room": {
+            "cls": "Floor"
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+            "cls": "WallAccessory"
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+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
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+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
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+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
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+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_base": {
+            "cls": "Box"
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+        "stack_7_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_main_group_3": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stovetop_island_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_island_group": {
+            "cls": "Counter"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "cube_island_group": {
+            "cls": "Box"
+        },
+        "panel_cab_1_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_cab_1_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2": {
+            "cls": "Drawer"
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+        "stack_3_island_group_3": {
+            "cls": "Drawer"
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+            "cls": "Box"
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+        "stack_4_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_2": {
+            "cls": "Drawer"
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+            "cls": "PanelCabinet"
+        }
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+    "gen_textures": {},
+    "lang": "Turn off the rear left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
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+                "fovy": "60"
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+    "task_refs": {
+        "knob": "rear_left",
+        "cookware_burner": "rear_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000106/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000106/model.xml.gz
new file mode 100644
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--- /dev/null
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new file mode 100644
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--- /dev/null
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+{
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+                "ensure_object_boundary_in_range": false,
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+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
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+        "wall_main_1_backing_room": {
+            "cls": "Wall"
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+        "wall_right_1_room": {
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+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3.001_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3.001_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "window_group_3_room": {
+            "cls": "Window"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_09_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_01_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_10_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_07_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_08_island_group_1": {
+            "cls": "Box"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        },
+        "hingecabinet_5_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_13_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_13_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_13_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_12_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_12_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_12_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_4_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_right_group_1": {
+            "cls": "Hood"
+        },
+        "stack_06_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_06_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_07_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_07_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_02_right_group_1": {
+            "cls": "Box"
+        },
+        "cube_11_right_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.456350442442887,
+        -2.0234200681842234,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -0.0001619848215634878
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "front_left"
+    }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000109/actions.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000109/actions.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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new file mode 100644
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@@ -0,0 +1,3 @@
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@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000110/actions.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000110/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..910d54189384e25afebeccbce9c300bd60cf58b0
--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000110/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000110/model.xml.gz
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@@ -0,0 +1,3 @@
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@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000111/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000111/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6f1af782c1022be740d0dd5edd5cedc80dcff22
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000111/ep_meta.json
@@ -0,0 +1,385 @@
+{
+  "layout_id": 59,
+  "style_id": 33,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "widestove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_center"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan008/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.004914930787441105,
+          -0.12553276189510654,
+          0.47018691497155635
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_center"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_01_room": {
+      "cls": "Wall"
+    },
+    "wall_left_01_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_02_room": {
+      "cls": "Wall"
+    },
+    "wall_left_02_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_03_room": {
+      "cls": "Wall"
+    },
+    "wall_left_03_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_04_room": {
+      "cls": "Wall"
+    },
+    "wall_left_04_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_enclosing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_enclosing_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_enclosing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_enclosing_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_01_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_02_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_03_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_04_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "fridgefrenchdoor_left_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "bottom_left_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "microwave_left_group_1": {
+      "cls": "Microwave"
+    },
+    "oven_cabinet_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_island_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "cube_3_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_4_island_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_island_group_1": {
+      "cls": "Dishwasher"
+    },
+    "sink_island_group_1": {
+      "cls": "Sink"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_01_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_01_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_01_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_02_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_02_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_02_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_03_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_04_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_04_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_3_main_group_1": {
+      "cls": "Counter"
+    },
+    "widestove_main_group_1": {
+      "cls": "Stove"
+    },
+    "widestove_hood_main_group_1": {
+      "cls": "Hood"
+    },
+    "singlecabinet_03_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_02_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_01_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_04_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "paper_towel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_oven_main_group_1": {
+      "cls": "ToasterOven"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.3780103835435025,
+    -1.0249577727025485,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707888166096549
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "front_center"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000111/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000111/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a0c5f39ca3e2154131432dd0cae18d220ad30b1
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000111/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tMTPretrainHuman",
+  "source_episode_index": 2,
+  "source_demo_key": "demo_2",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tMTPretrainHuman",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000112/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000112/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..09ba0995935f2b4c32bb04695296051afdc93378
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000112/ep_meta.json
@@ -0,0 +1,368 @@
+{
+  "layout_id": 44,
+  "style_id": 14,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_left_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pot",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pot",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot064/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.1754603257291634,
+          -0.12627014640950487,
+          0.4390424604150111
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory.001_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.005_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.003_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.004_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.002_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "sink_main_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "singlecabinet_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_main_group_1": {
+      "cls": "Box"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_1_main_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "fridgesidebyside_main_group_1": {
+      "cls": "FridgeSideBySide"
+    },
+    "fridgesidebyside_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "stove_left_group_1": {
+      "cls": "Stove"
+    },
+    "microwave_left_group_1": {
+      "cls": "Microwave"
+    },
+    "micro_cab_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "counter_2_left_group_1": {
+      "cls": "Counter"
+    },
+    "singlecabinet_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "hingecabinet_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_3_left_group_1": {
+      "cls": "Box"
+    },
+    "cube_4_left_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_1_left_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_left_group_1": {
+      "cls": "Box"
+    },
+    "coffee_machine_left_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "cube_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_3_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_4_island_group_1": {
+      "cls": "Box"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.645185210671323,
+    -1.5199310853710626,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.1412906566438026
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "front_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000112/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000112/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d40d30c1cdd490f0665d8db41d314f9a6a421b0
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000112/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tMTPretrainHuman",
+  "source_episode_index": 3,
+  "source_demo_key": "demo_3",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tMTPretrainHuman",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000113/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000113/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96e0171e220f4b06321b6fe0588bd207bc7c4dc1
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000113/ep_meta.json
@@ -0,0 +1,586 @@
+{
+  "layout_id": 25,
+  "style_id": 14,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_0/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.29718336279207036,
+          -0.15182910559976268,
+          0.45524094270582643
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_2_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_6_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_7_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_main_group": {
+      "cls": "Counter"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "stove_main_group": {
+      "cls": "Stove"
+    },
+    "counter_2_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_1_main_group": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_6_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_6_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_2_main_group": {
+      "cls": "Box"
+    },
+    "hood_main_group": {
+      "cls": "Hood"
+    },
+    "cab_corner_1_main_group": {
+      "cls": "Box"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_above_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_2_above_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_corner_2_main_group": {
+      "cls": "Box"
+    },
+    "cab_3_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_3_above_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_4_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_4_above_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "coffee_machine_main_group": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_main_group": {
+      "cls": "Toaster"
+    },
+    "knife_block_main_group": {
+      "cls": "Accessory"
+    },
+    "sink_1_left_group": {
+      "cls": "Sink"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "box_left_group": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_left_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_left_group_2": {
+      "cls": "Drawer"
+    },
+    "cab_1_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_4_left_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_5_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_6_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "paper_towel_left_group": {
+      "cls": "Accessory"
+    },
+    "toaster_oven_left_group": {
+      "cls": "ToasterOven"
+    },
+    "corner_counter_right_group": {
+      "cls": "Counter"
+    },
+    "counter_1_right_group": {
+      "cls": "Counter"
+    },
+    "box_right_group": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1": {
+      "cls": "PanelCabinet"
+    },
+    "fridge_right_group": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridge_housing_right_group": {
+      "cls": "HousingCabinet"
+    },
+    "bottom_right_group_base": {
+      "cls": "Box"
+    },
+    "bottom_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "middle_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_right_group": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_right_group": {
+      "cls": "HousingCabinet"
+    },
+    "top_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "counter_2_right_group": {
+      "cls": "Counter"
+    },
+    "stack_2_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_right_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_4": {
+      "cls": "Drawer"
+    },
+    "plant_right_group": {
+      "cls": "Accessory"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_island_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_island_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_island_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_island_group_2_2": {
+      "cls": "Drawer"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.7425689742606396,
+    -0.9392380435976192,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "front_left",
+    "cookware_burner": "front_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000113/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000113/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..35fd5b2c48ecb7cc34a6c99e35325eb1c8d00bfc
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000113/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tMTPretrainHuman",
+  "source_episode_index": 4,
+  "source_demo_key": "demo_4",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tMTPretrainHuman",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000114/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000114/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fcbbc82fedb8728d8c7c2819d896dc349943764
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000114/ep_meta.json
@@ -0,0 +1,422 @@
+{
+  "layout_id": 26,
+  "style_id": 51,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.1800034429929901,
+          0.1543295574593578,
+          0.4390424604150111
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_3_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_4_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "stove_main_group": {
+      "cls": "Stove"
+    },
+    "counter_2_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_main_group_2": {
+      "cls": "Drawer"
+    },
+    "fridge_main_group": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridge_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "stack_4_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_3": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_main_group_4": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_main_group": {
+      "cls": "Microwave"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group": {
+      "cls": "OpenCabinet"
+    },
+    "toaster_oven_main_group": {
+      "cls": "ToasterOven"
+    },
+    "sink_1_front_group": {
+      "cls": "Sink"
+    },
+    "counter_1_front_group": {
+      "cls": "Counter"
+    },
+    "box_front_group": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_front_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_2_front_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_front_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_front_group_2": {
+      "cls": "Drawer"
+    },
+    "cab_1_front_group": {
+      "cls": "HingeCabinet"
+    },
+    "counter_corner_right_group": {
+      "cls": "Counter"
+    },
+    "counter_1_right_group": {
+      "cls": "Counter"
+    },
+    "box_right_group": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_3": {
+      "cls": "Drawer"
+    },
+    "cab_1_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "coffee_machine_right_group": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_right_group": {
+      "cls": "Toaster"
+    },
+    "paper_towel_right_group": {
+      "cls": "Accessory"
+    },
+    "island_island_group": {
+      "cls": "Counter"
+    },
+    "stack_1_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "box_1_island_group": {
+      "cls": "Box"
+    },
+    "box_2_island_group": {
+      "cls": "Box"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.093696707697127,
+    -0.8437123806933569,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "front_right",
+    "cookware_burner": "rear_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000114/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000114/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d069d9706ec466b8d6472f7d20fde295a834c52
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000114/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tMTPretrainHuman",
+  "source_episode_index": 5,
+  "source_demo_key": "demo_5",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tMTPretrainHuman",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000115/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000115/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..33dc8001a5d8f32a3bb66e0706209d6c46a7b9cc
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000115/ep_meta.json
@@ -0,0 +1,566 @@
+{
+  "layout_id": 39,
+  "style_id": 34,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stovetop_island_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.21471246392874302,
+          0.12074257670852313,
+          0.0087095887489308
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_5_room": {
+      "cls": "Wall"
+    },
+    "wall_front_5_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_5_room": {
+      "cls": "Wall"
+    },
+    "wall_right_5_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_4_room": {
+      "cls": "Wall"
+    },
+    "wall_front_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_4_room": {
+      "cls": "Wall"
+    },
+    "wall_right_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_6_room": {
+      "cls": "Wall"
+    },
+    "wall_front_6_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_7_room": {
+      "cls": "Wall"
+    },
+    "wall_front_7_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_room": {
+      "cls": "Wall"
+    },
+    "wall_left_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_3_room": {
+      "cls": "Floor"
+    },
+    "floor_3_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_6.001_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "sink_main_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "fridgefrenchdoor_main_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_5_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_4_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_3_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_1_main_group_1": {
+      "cls": "Box"
+    },
+    "stack_5_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_5_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_6_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_6_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_6_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_7_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_7_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_7_main_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "knifeblock_main_group_1": {
+      "cls": "Accessory"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "stovetop_island_group_1": {
+      "cls": "Stovetop"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_island_group_2.001_base": {
+      "cls": "Box"
+    },
+    "stack_5_island_group_2.001_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_island_group_2.001_2": {
+      "cls": "Drawer"
+    },
+    "stack_6_island_group_2.001_base": {
+      "cls": "Box"
+    },
+    "stack_6_island_group_2.001_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_6_island_group_2.001_2": {
+      "cls": "Drawer"
+    },
+    "stack_7_island_group_2.001_base": {
+      "cls": "Box"
+    },
+    "stack_7_island_group_2.001_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_7_island_group_2.001_2": {
+      "cls": "Drawer"
+    },
+    "stack_8_island_group_2.001_base": {
+      "cls": "Box"
+    },
+    "stack_8_island_group_2.001_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_8_island_group_2.001_2": {
+      "cls": "Drawer"
+    },
+    "counter_1_front_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_2_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_1_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_5_front_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_5_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_front_group_1_3": {
+      "cls": "Drawer"
+    },
+    "bottom_front_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_front_group_1_1": {
+      "cls": "Drawer"
+    },
+    "oven_front_group_1": {
+      "cls": "Oven"
+    },
+    "oven_housing_front_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "microwave_front_group_1": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_front_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "coffeemachine_front_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_oven_front_group_1": {
+      "cls": "ToasterOven"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.6088414541147986,
+    -3.6575098526917333,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "rear_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000115/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000115/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..627c45100e48d9847b6816097af6f6a3c2f50103
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000115/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tMTPretrainHuman",
+  "source_episode_index": 6,
+  "source_demo_key": "demo_6",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tMTPretrainHuman",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000116/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000116/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..704fe30cc9ab008637b829a501cd313394976815
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000116/ep_meta.json
@@ -0,0 +1,416 @@
+{
+  "layout_id": 21,
+  "style_id": 59,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_left_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pot",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pot",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.15868875661279488,
+          0.14550572089201122,
+          0.4520059888974326
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_6_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_7_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_main_group": {
+      "cls": "Counter"
+    },
+    "sink_main_group": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "box_main_group": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_main_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_main_group_2": {
+      "cls": "Drawer"
+    },
+    "cab_1_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "paper_towel_main_group": {
+      "cls": "Accessory"
+    },
+    "toaster_main_group": {
+      "cls": "Toaster"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "stove_left_group": {
+      "cls": "Stove"
+    },
+    "counter_2_left_group": {
+      "cls": "Counter"
+    },
+    "hood_left_group": {
+      "cls": "Hood"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_left_group": {
+      "cls": "Box"
+    },
+    "fridge_left_group": {
+      "cls": "FridgeSideBySide"
+    },
+    "fridge_housing_left_group": {
+      "cls": "HousingCabinet"
+    },
+    "stack_4_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_left_group_2": {
+      "cls": "Drawer"
+    },
+    "counter_3_left_group": {
+      "cls": "Counter"
+    },
+    "cab_1_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_4_left_group": {
+      "cls": "SingleCabinet"
+    },
+    "coffee_machine_left_group": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_oven_left_group": {
+      "cls": "ToasterOven"
+    },
+    "counter_1_right_group": {
+      "cls": "Counter"
+    },
+    "stack_1_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "cab_1_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_right_group": {
+      "cls": "Microwave"
+    },
+    "island_island_group": {
+      "cls": "Counter"
+    },
+    "stack_1_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_island_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_island_group_2": {
+      "cls": "Drawer"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    0.8764536155746973,
+    -1.7384801583458727,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.1415926193612504
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "rear_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000116/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000116/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..647432a8396d783de5ec29311a55c54b2dfa51f3
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000116/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tMTPretrainHuman",
+  "source_episode_index": 7,
+  "source_demo_key": "demo_7",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tMTPretrainHuman",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000117/actions.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000117/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ef504a82526853063a8e0be1dd562d9f962708ce
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000117/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8ef240cb530d9b5e9a2492b64921100e6548f7da3d3e0a1a510571bf76b9fd4
+size 24635
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000117/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000117/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..f63f64369d8aaadd1bb8572e5cae804270f44a49
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000117/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8974c1f067a95292a5d9af4b8fdfc9aeddf538a84665217eb878dfd5b2ec3af
+size 32904
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000117/rewards_dense.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000117/rewards_dense.npz
new file mode 100644
index 0000000000000000000000000000000000000000..848db262e28a28bd6615f38fb429cb0a5c77f803
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000117/rewards_dense.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c5d4cfcc122e7388190fff85748f7f30c9fba5f44689e7a61332bdb7fd797ab
+size 613
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000117/states.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000117/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c99f3906c33a8be76816938936d493062d211ca5
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000117/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c3142a15b25378d612b546b6ed05ba6638e5bf1810530c6cd34d0c98182b4b6
+size 355400
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000118/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000118/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..818adddd5e72a19ab6200b0b908ea11cdc0a78f1
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000118/ep_meta.json
@@ -0,0 +1,436 @@
+{
+  "layout_id": 18,
+  "style_id": 25,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stovetop_left_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan002/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.21471246392874302,
+          0.12074257670852313,
+          0.0087095887489308
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_2_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_3_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_5_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_6_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_7_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "bottom_main_group_base": {
+      "cls": "Box"
+    },
+    "bottom_main_group_1": {
+      "cls": "Drawer"
+    },
+    "oven_main_group": {
+      "cls": "Oven"
+    },
+    "oven_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "microwave_main_group": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "top_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "fridge_main_group": {
+      "cls": "FridgeSideBySide"
+    },
+    "fridge_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "counter_corner_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_1_main_group": {
+      "cls": "Box"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_oven_main_group": {
+      "cls": "ToasterOven"
+    },
+    "plant_main_group": {
+      "cls": "Accessory"
+    },
+    "stovetop_left_group": {
+      "cls": "Stovetop"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_5": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_6": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_3": {
+      "cls": "PanelCabinet"
+    },
+    "stack_4_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_5": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_6": {
+      "cls": "Drawer"
+    },
+    "stack_5_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "hood_left_group": {
+      "cls": "Hood"
+    },
+    "cab_1_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "paper_towel_left_group": {
+      "cls": "Accessory"
+    },
+    "coffee_machine_left_group": {
+      "cls": "CoffeeMachine"
+    },
+    "sink_1_right_group": {
+      "cls": "Sink"
+    },
+    "counter_1_right_group": {
+      "cls": "Counter"
+    },
+    "box_1_right_group": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_1_right_group": {
+      "cls": "Dishwasher"
+    },
+    "panel_stack_right_group_base": {
+      "cls": "Box"
+    },
+    "panel_stack_right_group_1": {
+      "cls": "PanelCabinet"
+    },
+    "wall_stack_right_group_base": {
+      "cls": "Box"
+    },
+    "wall_stack_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_right_group": {
+      "cls": "Toaster"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the center burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    0.8101317922053205,
+    -4.253512742963182,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.141592787948654
+  ],
+  "task_refs": {
+    "knob": "center",
+    "cookware_burner": "rear_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000118/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000118/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..d94dd003d38f06e581eedb4f1d75349b2f10ee98
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000118/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tMTPretrainHuman",
+  "source_episode_index": 9,
+  "source_demo_key": "demo_9",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tMTPretrainHuman",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000120/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000120/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7946f85c0bdc3fdc499cd89ab939ab15cddddca3
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000120/ep_meta.json
@@ -0,0 +1,446 @@
+{
+  "layout_id": 16,
+  "style_id": 39,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_23/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.18976571040382365,
+          -0.09795662966306808,
+          0.45384256111761867
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_4_room": {
+      "cls": "Wall"
+    },
+    "wall_left_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_5_room": {
+      "cls": "Wall"
+    },
+    "wall_left_5_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_4_room": {
+      "cls": "Wall"
+    },
+    "wall_right_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_outer_room": {
+      "cls": "Wall"
+    },
+    "wall_left_outer_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_back_outer_room": {
+      "cls": "Wall"
+    },
+    "wall_back_outer_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_2_room": {
+      "cls": "WallAccessory"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "counter_corner_main_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "fridge_1_main_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridge_1_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "fridge_top_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "cab_corner_main_group_1": {
+      "cls": "Box"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "cab_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "paper_towel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "sink_1_right_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "box_1_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_right_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_right_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_4_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_5_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_5_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_5_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_right_group_1_3": {
+      "cls": "Drawer"
+    },
+    "dishwasher_right_group_1": {
+      "cls": "Dishwasher"
+    },
+    "panel_stack_right_group_1_base": {
+      "cls": "Box"
+    },
+    "panel_stack_right_group_1_1": {
+      "cls": "PanelCabinet"
+    },
+    "cab_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "coffee_machine_right_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_oven_right_group_1": {
+      "cls": "ToasterOven"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "island_island_group": {
+      "cls": "Counter"
+    },
+    "stack_1_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_2": {
+      "cls": "Drawer"
+    },
+    "box_1_island_group": {
+      "cls": "Box"
+    },
+    "box_2_island_group": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_2": {
+      "cls": "Drawer"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    1.6954681819319812,
+    -0.8318522031139782,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "front_right",
+    "cookware_burner": "front_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000120/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000120/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ba2f9e9529a06459b8c6d0d5e781704a107af8e
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000120/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tMTPretrainHuman",
+  "source_episode_index": 11,
+  "source_demo_key": "demo_11",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tMTPretrainHuman",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000121/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000121/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c3e452f0a252738334e239560f8088bef0bac4e
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000121/ep_meta.json
@@ -0,0 +1,386 @@
+{
+  "layout_id": 59,
+  "style_id": 49,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "widestove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "kettle_non_electric",
+          "receptacle",
+          "kettle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "kettle_non_electric",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_20/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.29210748499957717,
+          -0.13647575451326524,
+          0.44950546976329364
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_01_room": {
+      "cls": "Wall"
+    },
+    "wall_left_01_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_02_room": {
+      "cls": "Wall"
+    },
+    "wall_left_02_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_03_room": {
+      "cls": "Wall"
+    },
+    "wall_left_03_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_04_room": {
+      "cls": "Wall"
+    },
+    "wall_left_04_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_enclosing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_enclosing_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_enclosing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_enclosing_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_01_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_02_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_03_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_04_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "fridgefrenchdoor_left_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "bottom_left_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "microwave_left_group_1": {
+      "cls": "Microwave"
+    },
+    "oven_cabinet_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_island_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "cube_3_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_4_island_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_island_group_1": {
+      "cls": "Dishwasher"
+    },
+    "sink_island_group_1": {
+      "cls": "Sink"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_01_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_01_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_01_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_02_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_02_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_02_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_03_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_04_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_04_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_3_main_group_1": {
+      "cls": "Counter"
+    },
+    "widestove_main_group_1": {
+      "cls": "Stove"
+    },
+    "widestove_hood_main_group_1": {
+      "cls": "Hood"
+    },
+    "singlecabinet_03_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_02_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_01_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_04_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "paper_towel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_oven_main_group_1": {
+      "cls": "ToasterOven"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.6197327370740164,
+    -1.0225868438249417,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707888166096549
+  ],
+  "task_refs": {
+    "knob": "front_right",
+    "cookware_burner": "front_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000121/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000121/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..7360437a14edf2b93bdf7f6bbc33cd0baecbdc41
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000121/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tMTPretrainHuman",
+  "source_episode_index": 12,
+  "source_demo_key": "demo_12",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tMTPretrainHuman",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000122/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000122/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2443c029b0c3bfc0709ac49145a126daa0afdac3
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000122/ep_meta.json
@@ -0,0 +1,427 @@
+{
+  "layout_id": 31,
+  "style_id": 54,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stovetop_right_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan007/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.1960616465874109,
+          0.1282580092769118,
+          0.010299536306018318
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "fridgebottomfreezer_main_group_1": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridgebottomfreezer_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "bottom_main_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "oven_main_group_1": {
+      "cls": "Oven"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "hingecabinet_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_2_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_3_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_1_main_group_1": {
+      "cls": "Box"
+    },
+    "oven_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stovetop_right_group_1": {
+      "cls": "Stovetop"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_4_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hood_right_group_1": {
+      "cls": "Hood"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_1_3": {
+      "cls": "PanelCabinet"
+    },
+    "stack_5_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_5_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_5_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "coffee_machine_right_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "papertowel_right_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_oven_right_group_1": {
+      "cls": "ToasterOven"
+    },
+    "sink_island_group_1": {
+      "cls": "Sink"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_3_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_4_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_5_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_5_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_5_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "cube_6_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_7_island_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_island_group_1": {
+      "cls": "Dishwasher"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    4.816118634791408,
+    -4.640988842561586,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    0.00030199704781619374
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "rear_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000122/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000122/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6d048a95fe19b860b9780bff3d7aa53958fa731
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000122/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tMTPretrainHuman",
+  "source_episode_index": 13,
+  "source_demo_key": "demo_13",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tMTPretrainHuman",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000123/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000123/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..348b0b57924a51ef22b34893a1f9012ef240ad7b
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000123/ep_meta.json
@@ -0,0 +1,497 @@
+{
+  "layout_id": 20,
+  "style_id": 56,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pot",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pot",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot060/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.26596531571105514,
+          -0.12491630999507006,
+          0.47018691497155635
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "counter_corner_main_group": {
+      "cls": "Counter"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "stove_main_group": {
+      "cls": "Stove"
+    },
+    "counter_2_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_main_group": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_6_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_6_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "microwave_main_group": {
+      "cls": "Microwave"
+    },
+    "cab_4_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_5_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_6_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "coffee_machine_main_group": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_main_group": {
+      "cls": "Accessory"
+    },
+    "counter_corner_1_left_group": {
+      "cls": "Counter"
+    },
+    "sink_1_left_group": {
+      "cls": "Sink"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "box_1_left_group": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_1_left_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_2_left_group": {
+      "cls": "Box"
+    },
+    "cab_1_left_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_left_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_corner_left_group": {
+      "cls": "Box"
+    },
+    "knife_block_left_group": {
+      "cls": "Accessory"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "panel_stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "panel_stack_1_island_group_1_1": {
+      "cls": "PanelCabinet"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "panel_stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "panel_stack_2_island_group_1_1": {
+      "cls": "PanelCabinet"
+    },
+    "plant_island_group_1": {
+      "cls": "Accessory"
+    },
+    "counter_1_island_group_2": {
+      "cls": "Counter"
+    },
+    "panel_stack_1_island_group_2_base": {
+      "cls": "Box"
+    },
+    "panel_stack_1_island_group_2_1": {
+      "cls": "PanelCabinet"
+    },
+    "stack_1_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_2_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_2_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_2_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_2_2": {
+      "cls": "Drawer"
+    },
+    "panel_stack_2_island_group_2_base": {
+      "cls": "Box"
+    },
+    "panel_stack_2_island_group_2_1": {
+      "cls": "PanelCabinet"
+    },
+    "counter_1_front_group_1": {
+      "cls": "Counter"
+    },
+    "fridge_1_front_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridge_1_housing_front_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "stack_1_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "box_front_group_1": {
+      "cls": "Box"
+    },
+    "cab_1_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_front_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "cab_3_front_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "toaster_front_group_1": {
+      "cls": "Toaster"
+    },
+    "counter_1_front_group_2": {
+      "cls": "Counter"
+    },
+    "stack_1_front_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_front_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_2_front_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_front_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_3_front_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "cab_1_front_group_2": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_front_group_2": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_front_group_2": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_oven_front_group_2": {
+      "cls": "ToasterOven"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.226840415803864,
+    -0.9416964033975803,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "front_left",
+    "cookware_burner": "front_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000123/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000123/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a432c73fc8353270db91c1f61771f7fd1ba4632
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000123/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tMTPretrainHuman",
+  "source_episode_index": 14,
+  "source_demo_key": "demo_14",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tMTPretrainHuman",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000124/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000124/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f3a482c025bd1ebb4e258cae0a81b6958c46d6f
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000124/ep_meta.json
@@ -0,0 +1,377 @@
+{
+  "layout_id": 58,
+  "style_id": 30,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_island_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "kettle_non_electric",
+          "receptacle",
+          "kettle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "kettle_non_electric",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_21/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.1800034429929901,
+          0.1543295574593578,
+          0.4390424604150111
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_7_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_03_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_01_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_02_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "window_group_3_room": {
+      "cls": "Window"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "sink_main_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "hingecabinet_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_14_main_group_1": {
+      "cls": "Box"
+    },
+    "stack_04_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_04_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_03_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_02_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_02_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_02_main_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "stack_01_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_01_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_15_main_group_1": {
+      "cls": "Box"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "bottom_left_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "microwave_left_group_1": {
+      "cls": "Microwave"
+    },
+    "fridgefrenchdoor_left_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "oven_cabinet_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "island_1_island_group_1": {
+      "cls": "Counter"
+    },
+    "island_2_island_group_1": {
+      "cls": "Counter"
+    },
+    "island_3_island_group_1": {
+      "cls": "Counter"
+    },
+    "stove_island_group_1": {
+      "cls": "Stove"
+    },
+    "stove_hood_island_group_1": {
+      "cls": "Hood"
+    },
+    "stack_06_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_06_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_06_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_07_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_07_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_07_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_07_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_08_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_08_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_16_island_group_1": {
+      "cls": "Box"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.5122519082718364,
+    -2.125468757062079,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    4.7122376720160215
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "rear_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000124/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000124/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..dce41cb748e165c8fe19b0718f991c718491de08
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000124/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tMTPretrainHuman",
+  "source_episode_index": 15,
+  "source_demo_key": "demo_15",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tMTPretrainHuman",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000125/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000125/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1785b8eda63c3b459e0b4bfd1086ad4f93552198
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000125/ep_meta.json
@@ -0,0 +1,413 @@
+{
+  "layout_id": 47,
+  "style_id": 35,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pot",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pot",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot064/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.18988406409958983,
+          0.1853399893304247,
+          0.45384259347784334
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_02_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_01_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_6.001_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "hingecabinet_5_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_4_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "sink_right_group_1": {
+      "cls": "Sink"
+    },
+    "counter_03_right_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_2_right_group_1": {
+      "cls": "Counter"
+    },
+    "stack_05_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_05_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_05_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "box_05_right_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_right_group_1": {
+      "cls": "Dishwasher"
+    },
+    "stack_06_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_06_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_06_right_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_08_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_08_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_08_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "hingecabinet_1_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "counter_05_front_group_1": {
+      "cls": "Counter"
+    },
+    "stack_02_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_02_front_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_02_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_01_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_01_front_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "coffee_machine_front_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_front_group_1": {
+      "cls": "Toaster"
+    },
+    "fridgesidebyside_main_group_1": {
+      "cls": "FridgeSideBySide"
+    },
+    "fridgesidebyside_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_6_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "counter_02_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_01_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "micro_cab_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_main_group_1": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_03_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_04_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_04_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_oven_main_group_1": {
+      "cls": "ToasterOven"
+    },
+    "counter_04_front_group_2": {
+      "cls": "Counter"
+    },
+    "stack_10_front_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_10_front_group_2_1": {
+      "cls": "Drawer"
+    },
+    "stack_10_front_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_10_front_group_2_3": {
+      "cls": "Drawer"
+    },
+    "stack_10_front_group_2_4": {
+      "cls": "Drawer"
+    },
+    "stack_09_front_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_09_front_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_09_front_group_2_2": {
+      "cls": "Drawer"
+    },
+    "cube_front_group_2": {
+      "cls": "Box"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    5.480020887305981,
+    -0.9308904723090288,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5706378857158503
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "rear_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000125/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000125/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..48446a911a6095fa06b21a390732f5bc69b99d1a
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000125/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tMTPretrainHuman",
+  "source_episode_index": 16,
+  "source_demo_key": "demo_16",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tMTPretrainHuman",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000126/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000126/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8d21fb35642e54f964a3f07fb2ab6ccdca7efd9
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000126/ep_meta.json
@@ -0,0 +1,391 @@
+{
+  "layout_id": 32,
+  "style_id": 51,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "widestove_right_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_center"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.005538808426559425,
+          0.21465705026513981,
+          0.4565523102675695
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_center"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "sink_main_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "opencabinet_1_main_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_main_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "cube_1_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_3_main_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "knifeblock_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "widestove_right_group_1": {
+      "cls": "Stove"
+    },
+    "widestove_hood_right_group_1": {
+      "cls": "Hood"
+    },
+    "singlecabinet_1_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_2_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_3_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "bottom_right_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "microwave_right_group_1": {
+      "cls": "Microwave"
+    },
+    "counter_2_right_group_1": {
+      "cls": "Counter"
+    },
+    "fridgesidebyside_right_group_1": {
+      "cls": "FridgeSideBySide"
+    },
+    "fridgesidebyside_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "oven_cabinet_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_1_right_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_1_3": {
+      "cls": "Drawer"
+    },
+    "coffee_machine_right_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "PanelCabinet"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "papertowel_island_group_1": {
+      "cls": "Accessory"
+    },
+    "plant_island_group_1": {
+      "cls": "Accessory"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.449665738290059,
+    -1.670706487363945,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    0.00030199704781619374
+  ],
+  "task_refs": {
+    "knob": "front_right",
+    "cookware_burner": "rear_center"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000126/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000126/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..a39fcdda1cdf2c81b6226d4a0006e7ab79f8eaa6
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000126/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tMTPretrainHuman",
+  "source_episode_index": 17,
+  "source_demo_key": "demo_17",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tMTPretrainHuman",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000127/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000127/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3b32eca8d9a66f6af3bb64dd8aeef18b2ab4bd5
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000127/ep_meta.json
@@ -0,0 +1,422 @@
+{
+  "layout_id": 26,
+  "style_id": 55,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_21/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.1483845687011276,
+          0.18435446126015398,
+          0.46313426675014535
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_3_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_4_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "stove_main_group": {
+      "cls": "Stove"
+    },
+    "counter_2_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_main_group_2": {
+      "cls": "Drawer"
+    },
+    "fridge_main_group": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridge_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "stack_4_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_3": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_main_group_4": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_main_group": {
+      "cls": "Microwave"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group": {
+      "cls": "OpenCabinet"
+    },
+    "toaster_oven_main_group": {
+      "cls": "ToasterOven"
+    },
+    "sink_1_front_group": {
+      "cls": "Sink"
+    },
+    "counter_1_front_group": {
+      "cls": "Counter"
+    },
+    "box_front_group": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_front_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_2_front_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_front_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_front_group_2": {
+      "cls": "Drawer"
+    },
+    "cab_1_front_group": {
+      "cls": "HingeCabinet"
+    },
+    "counter_corner_right_group": {
+      "cls": "Counter"
+    },
+    "counter_1_right_group": {
+      "cls": "Counter"
+    },
+    "box_right_group": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_3": {
+      "cls": "Drawer"
+    },
+    "cab_1_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "coffee_machine_right_group": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_right_group": {
+      "cls": "Toaster"
+    },
+    "paper_towel_right_group": {
+      "cls": "Accessory"
+    },
+    "island_island_group": {
+      "cls": "Counter"
+    },
+    "stack_1_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "box_1_island_group": {
+      "cls": "Box"
+    },
+    "box_2_island_group": {
+      "cls": "Box"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.287949173213013,
+    -0.8674269464162288,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "front_left",
+    "cookware_burner": "rear_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000127/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000127/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dc3bd08beaf892312e5c05f8c5298c858ab4f6d
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000127/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tMTPretrainHuman",
+  "source_episode_index": 18,
+  "source_demo_key": "demo_18",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tMTPretrainHuman",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000129/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000129/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7d5b819394e7e52351bd4514c5d3f21134c18ca
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000129/ep_meta.json
@@ -0,0 +1,431 @@
+{
+  "layout_id": 51,
+  "style_id": 32,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_10/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.19429186732020443,
+          0.17967370885342657,
+          0.45384265819829256
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_01_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_02_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_03_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_04_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_05_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_06_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_07_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "hingecabinet_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_5_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_2_main_group_1": {
+      "cls": "Box"
+    },
+    "hingecabinet_6_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "sink_main_group_1": {
+      "cls": "Sink"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_3_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "micro_cab_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_01_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_01_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_02_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_02_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_02_main_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_03_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_04_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_04_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_05_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_05_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_05_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_06_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_06_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_06_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_06_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "cube_1_main_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "plant_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "fridgefrenchdoor_main_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_4_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_3_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "counter_4_right_group_1": {
+      "cls": "Counter"
+    },
+    "counter_5_right_group_1": {
+      "cls": "Counter"
+    },
+    "stack_07_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_07_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_08_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_08_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_08_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_1_right_group_1": {
+      "cls": "Box"
+    },
+    "toaster_oven_right_group_1": {
+      "cls": "ToasterOven"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_09_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_09_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_09_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_09_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_11_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_11_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_11_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_10_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_10_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_10_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    6.297855134768511,
+    -0.8818356543210546,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.57064844767067
+  ],
+  "task_refs": {
+    "knob": "front_right",
+    "cookware_burner": "rear_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000129/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000129/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f60b220928d1a4d74fea378f619fc5b0fd24163
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000129/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tMTPretrainHuman",
+  "source_episode_index": 20,
+  "source_demo_key": "demo_20",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tMTPretrainHuman",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000130/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000130/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3822cf328c1f1e992338de292903e51fe92c5828
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000130/ep_meta.json
@@ -0,0 +1,479 @@
+{
+  "layout_id": 49,
+  "style_id": 40,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pot",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pot",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot060/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.20074877808322203,
+          -0.06912926694207545,
+          0.471831195327171
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_4_room": {
+      "cls": "Wall"
+    },
+    "wall_left_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_4_room": {
+      "cls": "Wall"
+    },
+    "wall_main_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_7_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_6_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_11_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "stool_4_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "hingecabinet_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_4_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_13_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "micro_cab_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_01_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_01_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_01_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_02_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_02_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_02_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_04_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_main_group_1": {
+      "cls": "Box"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_oven_main_group_1": {
+      "cls": "ToasterOven"
+    },
+    "sink_right_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "stack_05_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_05_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_2_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_07_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_07_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_07_right_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "cube_1_right_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_right_group_1": {
+      "cls": "Dishwasher"
+    },
+    "fridgefrenchdoor_left_group_2": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_left_group_2": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_1_left_group_2": {
+      "cls": "HingeCabinet"
+    },
+    "counter_3_front_group_1": {
+      "cls": "Counter"
+    },
+    "counter_5_front_group_1": {
+      "cls": "Counter"
+    },
+    "stack_12_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_12_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_12_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_13_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_13_front_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_13_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_13_front_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_14_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_14_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_14_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_15_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_15_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_15_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_11_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_11_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_11_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_4_front_group_1": {
+      "cls": "Box"
+    },
+    "cube_11_front_group_1": {
+      "cls": "Box"
+    },
+    "cube_5_front_group_1": {
+      "cls": "Box"
+    },
+    "dining_dining_area_group": {
+      "cls": "Counter"
+    },
+    "stack_10_dining_area_group_base": {
+      "cls": "Box"
+    },
+    "stack_10_dining_area_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_10_dining_area_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_09_dining_area_group_base": {
+      "cls": "Box"
+    },
+    "stack_09_dining_area_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_09_dining_area_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_08_dining_area_group_base": {
+      "cls": "Box"
+    },
+    "stack_08_dining_area_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_08_dining_area_group_2": {
+      "cls": "Drawer"
+    },
+    "cube_2_dining_area_group": {
+      "cls": "Box"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.6434041941664392,
+    -1.1542159812707224,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5706449309965886
+  ],
+  "task_refs": {
+    "knob": "front_left",
+    "cookware_burner": "front_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000130/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000130/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..27a1b6491830a73b63ce70a1a2e1af5a2b12aa9f
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000130/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tMTPretrainHuman",
+  "source_episode_index": 21,
+  "source_demo_key": "demo_21",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tMTPretrainHuman",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000131/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000131/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8104f01a1e5fbc188a8b233f1ded06384da54a24
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000131/ep_meta.json
@@ -0,0 +1,344 @@
+{
+  "layout_id": 52,
+  "style_id": 28,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pot",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pot",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot057/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.16654140081499832,
+          -0.0996524021700794,
+          0.48370738282279596
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1.001_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1.001_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2.002_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2.002_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3.003_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3.003_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "cube_4_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_5_main_group_1": {
+      "cls": "Box"
+    },
+    "hingecabinet_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_3_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "stack_04_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "hingecabinet_3_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_4_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_5_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "sink_right_group_1": {
+      "cls": "Sink"
+    },
+    "counter_4_right_group_1": {
+      "cls": "Counter"
+    },
+    "cube_1_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "dishwasher_1_right_group_1": {
+      "cls": "Dishwasher"
+    },
+    "cube_2_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_01_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_01_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_01_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_01_right_group_1_3": {
+      "cls": "Drawer"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "stack_05_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_05_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_05_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_05_left_group_1_3": {
+      "cls": "Drawer"
+    },
+    "cube_1_left_group_1": {
+      "cls": "Box"
+    },
+    "fridgebottomfreezer_left_group_1": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridgebottomfreezer_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_5_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "microwave_left_group_1": {
+      "cls": "Microwave"
+    },
+    "cab_micro_left_group_1": {
+      "cls": "HingeCabinet"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    1.6634196883790657,
+    -0.886150573326472,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5706272411567803
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "front_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000131/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000131/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a3c13f07432e9f340522943bfa6aef2566886a8
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000131/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tMTPretrainHuman",
+  "source_episode_index": 22,
+  "source_demo_key": "demo_22",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tMTPretrainHuman",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000132/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000132/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ea770d64d8a9ccd3dbdebb79d078af03a4d928e
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000132/ep_meta.json
@@ -0,0 +1,344 @@
+{
+  "layout_id": 34,
+  "style_id": 34,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stovetop_left_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.21585003747584525,
+          -0.07953177139130535,
+          0.0087095887489308
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_4_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stovetop_left_group_1": {
+      "cls": "Stovetop"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_4_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "bottom_left_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "oven_left_group_1": {
+      "cls": "Oven"
+    },
+    "microwave_left_group_1": {
+      "cls": "Microwave"
+    },
+    "fridgefrenchdoor_left_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "oven_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_1_3": {
+      "cls": "PanelCabinet"
+    },
+    "stack_2_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "coffee_machine_left_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_left_group_1": {
+      "cls": "Toaster"
+    },
+    "toaster_oven_left_group_1": {
+      "cls": "ToasterOven"
+    },
+    "sink_island_group_1": {
+      "cls": "Sink"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_3_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_4_island_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_island_group_1": {
+      "cls": "Dishwasher"
+    },
+    "paper_towel_island_group_1": {
+      "cls": "Accessory"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    0.8039660177726247,
+    -2.3231635940931348,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.1412906566438026
+  ],
+  "task_refs": {
+    "knob": "front_right",
+    "cookware_burner": "front_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000132/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000132/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..6345657d2b7c8ce36662aa47d9b6120682181d78
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000132/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tMTPretrainHuman",
+  "source_episode_index": 23,
+  "source_demo_key": "demo_23",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tMTPretrainHuman",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000134/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000134/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb0a6ea5d611f967214bf5b8c0c9af7c491d45e5
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000134/ep_meta.json
@@ -0,0 +1,347 @@
+{
+  "layout_id": 37,
+  "style_id": 53,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stovetop_left_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pot",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pot",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.13178297413314466,
+          -0.02013347511727076,
+          -0.003961471997002218
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_room": {
+      "cls": "Wall"
+    },
+    "wall_right_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stovetop_left_group_1": {
+      "cls": "Stovetop"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_left_group_1": {
+      "cls": "Microwave"
+    },
+    "cab_micro_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_1_left_group_1": {
+      "cls": "Box"
+    },
+    "fridgefrenchdoor_left_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "bottom_left_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "oven_left_group_1": {
+      "cls": "Oven"
+    },
+    "oven_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_3_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_cabinet_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "top_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_1_3": {
+      "cls": "PanelCabinet"
+    },
+    "stack_3_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "papertowel_left_group_1": {
+      "cls": "Accessory"
+    },
+    "coffee_machine_left_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_left_group_1": {
+      "cls": "Toaster"
+    },
+    "sink_island_group_1": {
+      "cls": "Sink"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "cube_5_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_3_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_4_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "dishwasher_1_island_group_1": {
+      "cls": "Dishwasher"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    0.8074522449780944,
+    -2.4746107007830274,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.1412906566438026
+  ],
+  "task_refs": {
+    "knob": "front_left",
+    "cookware_burner": "front_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000134/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000134/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..55563f59e645034a39f6551de6f10d26ace276b7
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000134/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tMTPretrainHuman",
+  "source_episode_index": 25,
+  "source_demo_key": "demo_25",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tMTPretrainHuman",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000135/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000135/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..07ce27d7c1e09335dc986d578b0af0c985726483
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000135/ep_meta.json
@@ -0,0 +1,440 @@
+{
+  "layout_id": 28,
+  "style_id": 32,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stovetop_island_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pot",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pot",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.2600525637192651,
+          -0.08356082315944455,
+          -0.007280309186499837
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_4_room": {
+      "cls": "Wall"
+    },
+    "wall_left_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_4_room": {
+      "cls": "Stool"
+    },
+    "bottom_main_group_base": {
+      "cls": "Box"
+    },
+    "bottom_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_main_group": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "top_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "sink_main_group": {
+      "cls": "Sink"
+    },
+    "counter_2_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "oven_main_group": {
+      "cls": "Oven"
+    },
+    "stack_6_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_6_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_6_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_7_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_7_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_7_main_group_2": {
+      "cls": "HingeCabinet"
+    },
+    "stack_7_main_group_3": {
+      "cls": "SingleCabinet"
+    },
+    "cab_1_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "coffee_machine_main_group": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_main_group": {
+      "cls": "Toaster"
+    },
+    "toaster_oven_main_group": {
+      "cls": "ToasterOven"
+    },
+    "paper_towel_main_group": {
+      "cls": "Accessory"
+    },
+    "fridge_right_group": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridge_housing_right_group": {
+      "cls": "HousingCabinet"
+    },
+    "fridge_top_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "stovetop_island_group": {
+      "cls": "Stovetop"
+    },
+    "counter_1_island_group": {
+      "cls": "Counter"
+    },
+    "island_island_group": {
+      "cls": "Counter"
+    },
+    "cube_island_group": {
+      "cls": "Box"
+    },
+    "panel_cab_1_island_group_base": {
+      "cls": "Box"
+    },
+    "panel_cab_1_island_group_1": {
+      "cls": "PanelCabinet"
+    },
+    "stack_1_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_island_group_2": {
+      "cls": "Drawer"
+    },
+    "dishwasher_island_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_2_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_island_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_island_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_5_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_island_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_island_group_2": {
+      "cls": "Drawer"
+    },
+    "panel_cab_2_island_group_base": {
+      "cls": "Box"
+    },
+    "panel_cab_2_island_group_1": {
+      "cls": "PanelCabinet"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.0207020065556844,
+    -1.7639726256369646,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    -1.57079623937212
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "front_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000135/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000135/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9619b0fa7d77fea5946c1d1677d56417c9b535b
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000135/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tMTPretrainHuman",
+  "source_episode_index": 26,
+  "source_demo_key": "demo_26",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tMTPretrainHuman",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000136/actions.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000136/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7ae3f3c4942b00a6e8598fba8d4b1ff7ad8d0292
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000136/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000136/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000136/model.xml.gz
new file mode 100644
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--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000136/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000136/rewards_dense.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000136/rewards_dense.npz
new file mode 100644
index 0000000000000000000000000000000000000000..848db262e28a28bd6615f38fb429cb0a5c77f803
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000136/rewards_dense.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000136/states.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000136/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cdea6c6261f937ee847eeccc4d1878e235ea1d8d
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000136/states.npz
@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000137/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000137/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a2b5718842c869f34371f5117290ffacd07dc13
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000137/ep_meta.json
@@ -0,0 +1,386 @@
+{
+  "layout_id": 59,
+  "style_id": 59,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "widestove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
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+          [
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+            1.1780972450961724
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+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml"
+      },
+      "reset_region": {
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+          0.16063501550752776,
+          0.47018691497155635
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+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_01_room": {
+      "cls": "Wall"
+    },
+    "wall_left_01_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_02_room": {
+      "cls": "Wall"
+    },
+    "wall_left_02_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_03_room": {
+      "cls": "Wall"
+    },
+    "wall_left_03_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_04_room": {
+      "cls": "Wall"
+    },
+    "wall_left_04_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_enclosing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_enclosing_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_enclosing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_enclosing_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_01_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_02_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_03_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_04_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "fridgefrenchdoor_left_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "bottom_left_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "microwave_left_group_1": {
+      "cls": "Microwave"
+    },
+    "oven_cabinet_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_island_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "cube_3_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_4_island_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_island_group_1": {
+      "cls": "Dishwasher"
+    },
+    "sink_island_group_1": {
+      "cls": "Sink"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_01_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_01_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_01_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_02_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_02_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_02_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_03_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_04_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_04_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_3_main_group_1": {
+      "cls": "Counter"
+    },
+    "widestove_main_group_1": {
+      "cls": "Stove"
+    },
+    "widestove_hood_main_group_1": {
+      "cls": "Hood"
+    },
+    "singlecabinet_03_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_02_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_01_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_04_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "paper_towel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_oven_main_group_1": {
+      "cls": "ToasterOven"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.6205492168657387,
+    -0.9897936726912586,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707888166096549
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "rear_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000137/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000137/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..10982ace1f44f9b124575c9a8d1d3817acacca47
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000137/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tMTPretrainHuman",
+  "source_episode_index": 28,
+  "source_demo_key": "demo_28",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tMTPretrainHuman",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000138/actions.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000138/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..37de4afb8fd1baf902a48efc53f83d03eadf4ae1
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000138/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e665fb020b7a071eeb3017f977b3aba2ad291ba038c7451c7c58d360f110767
+size 25168
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000138/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000138/model.xml.gz
new file mode 100644
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--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000138/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6db3501d3f0e0d045f7507799e8d3c03d94f39228c62886498d044527cca623f
+size 41583
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000138/rewards_dense.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000138/rewards_dense.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000138/states.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000138/states.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 395960
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000139/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000139/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b25d61788710872930b058ccc1d175068ef58dc7
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000139/ep_meta.json
@@ -0,0 +1,401 @@
+{
+  "layout_id": 30,
+  "style_id": 56,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_left_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_11/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.17898466372397467,
+          -0.12000280213358415,
+          0.42613691190457936
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "ligh_switch_2_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_3_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "window_group_3_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "stove_left_group": {
+      "cls": "Stove"
+    },
+    "counter_2_left_group": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_3": {
+      "cls": "Drawer"
+    },
+    "fridge_left_group": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridge_housing_left_group": {
+      "cls": "HousingCabinet"
+    },
+    "cab_1_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_left_group": {
+      "cls": "Microwave"
+    },
+    "cab_3_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_4_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_5_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_6_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_oven_left_group": {
+      "cls": "ToasterOven"
+    },
+    "coffee_machine_left_group": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_left_group": {
+      "cls": "Accessory"
+    },
+    "sink_right_group": {
+      "cls": "Sink"
+    },
+    "counter_1_right_group": {
+      "cls": "Counter"
+    },
+    "stack_1_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "dishwasher_right_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_2_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_right_group": {
+      "cls": "Box"
+    },
+    "cab_1_right_group": {
+      "cls": "OpenCabinet"
+    },
+    "cab_2_right_group": {
+      "cls": "OpenCabinet"
+    },
+    "toaster_right_group": {
+      "cls": "Toaster"
+    },
+    "dining_front_group": {
+      "cls": "Counter"
+    },
+    "box_front_group": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_front_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_front_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_front_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_front_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_front_group_4": {
+      "cls": "Drawer"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    0.8760500656512612,
+    -2.4966727272635234,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.1415926193612504
+  ],
+  "task_refs": {
+    "knob": "front_right",
+    "cookware_burner": "front_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000139/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000139/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..5acd04903934bea218e201d606725cd3446d3a19
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000139/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMPretrainAll",
+  "source_episode_index": 0,
+  "source_demo_key": "demo_0",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMPretrainAll",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000140/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000140/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d36a9bf7fd47987845c4681aa8f9afabaa6c019f
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000140/ep_meta.json
@@ -0,0 +1,392 @@
+{
+  "layout_id": 32,
+  "style_id": 50,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "widestove_right_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_center"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.0006801035260546808,
+          0.20581413037136279,
+          0.45664063435832325
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_center"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "sink_main_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "opencabinet_1_main_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_main_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "cube_1_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_3_main_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "knifeblock_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "widestove_right_group_1": {
+      "cls": "Stove"
+    },
+    "widestove_hood_right_group_1": {
+      "cls": "Hood"
+    },
+    "singlecabinet_1_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_2_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_3_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "bottom_right_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "microwave_right_group_1": {
+      "cls": "Microwave"
+    },
+    "counter_2_right_group_1": {
+      "cls": "Counter"
+    },
+    "fridgesidebyside_right_group_1": {
+      "cls": "FridgeSideBySide"
+    },
+    "fridgesidebyside_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "oven_cabinet_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_1_right_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_1_3": {
+      "cls": "Drawer"
+    },
+    "coffee_machine_right_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "PanelCabinet"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "papertowel_island_group_1": {
+      "cls": "Accessory"
+    },
+    "plant_island_group_1": {
+      "cls": "Accessory"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear center burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.4573757995817784,
+    -1.7688232070926626,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    0.00030199704781619374
+  ],
+  "task_refs": {
+    "knob": "rear_center",
+    "cookware_burner": "rear_center"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000140/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000140/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7b920790938c0d86aebbffadefe33a75f1ba456
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000140/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMPretrainAll",
+  "source_episode_index": 1,
+  "source_demo_key": "demo_1",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMPretrainAll",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000141/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000141/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b15ea6df7848effef633b26c1cc00289b437a486
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000141/ep_meta.json
@@ -0,0 +1,479 @@
+{
+  "layout_id": 49,
+  "style_id": 47,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.1697292733598175,
+          0.16156454641941922,
+          0.4619347540804282
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_4_room": {
+      "cls": "Wall"
+    },
+    "wall_left_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_4_room": {
+      "cls": "Wall"
+    },
+    "wall_main_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_7_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_6_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_11_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "stool_4_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "hingecabinet_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_4_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_13_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "micro_cab_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_01_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_01_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_01_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_02_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_02_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_02_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_04_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_main_group_1": {
+      "cls": "Box"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_oven_main_group_1": {
+      "cls": "ToasterOven"
+    },
+    "sink_right_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "stack_05_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_05_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_2_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_07_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_07_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_07_right_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "cube_1_right_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_right_group_1": {
+      "cls": "Dishwasher"
+    },
+    "fridgefrenchdoor_left_group_2": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_left_group_2": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_1_left_group_2": {
+      "cls": "HingeCabinet"
+    },
+    "counter_3_front_group_1": {
+      "cls": "Counter"
+    },
+    "counter_5_front_group_1": {
+      "cls": "Counter"
+    },
+    "stack_12_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_12_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_12_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_13_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_13_front_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_13_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_13_front_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_14_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_14_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_14_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_15_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_15_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_15_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_11_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_11_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_11_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_4_front_group_1": {
+      "cls": "Box"
+    },
+    "cube_11_front_group_1": {
+      "cls": "Box"
+    },
+    "cube_5_front_group_1": {
+      "cls": "Box"
+    },
+    "dining_dining_area_group": {
+      "cls": "Counter"
+    },
+    "stack_10_dining_area_group_base": {
+      "cls": "Box"
+    },
+    "stack_10_dining_area_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_10_dining_area_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_09_dining_area_group_base": {
+      "cls": "Box"
+    },
+    "stack_09_dining_area_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_09_dining_area_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_08_dining_area_group_base": {
+      "cls": "Box"
+    },
+    "stack_08_dining_area_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_08_dining_area_group_2": {
+      "cls": "Drawer"
+    },
+    "cube_2_dining_area_group": {
+      "cls": "Box"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.5420969401442224,
+    -1.17707765724997,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5706449309965886
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "rear_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000141/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000141/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..193dd953bebbdc92dbaf1cf21b87f63b78d652e8
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000141/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMPretrainAll",
+  "source_episode_index": 2,
+  "source_demo_key": "demo_2",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMPretrainAll",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000142/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000142/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af58557973c062147cd81150a5f8aa1d0bbb7340
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000142/ep_meta.json
@@ -0,0 +1,463 @@
+{
+  "layout_id": 43,
+  "style_id": 42,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan002/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.1340235283776802,
+          0.19094825648403774,
+          0.46965236862466925
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_1.001_room": {
+      "cls": "Floor"
+    },
+    "floor_1.001_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory.001_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.005_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.003_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.004_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.002_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.006_room": {
+      "cls": "WallAccessory"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "counter_corner_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_hood_main_group_1": {
+      "cls": "Hood"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_1_main_group_1": {
+      "cls": "Box"
+    },
+    "hingecabinet_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_2_main_group_1": {
+      "cls": "Box"
+    },
+    "coffeemachine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "plant_main_group_1": {
+      "cls": "Accessory"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_3_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_4_main_group_1": {
+      "cls": "Box"
+    },
+    "counter_1_front_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_1_front_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_front_group_1": {
+      "cls": "Box"
+    },
+    "stack_2_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "singlecabinet_1_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "hingecabinet_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "opencabinet_1_right_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "cube_1_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_1_3": {
+      "cls": "Drawer"
+    },
+    "fridgesidebyside_right_group_1": {
+      "cls": "FridgeSideBySide"
+    },
+    "fridgesidebyside_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "bottom_right_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "microwave_right_group_1": {
+      "cls": "Microwave"
+    },
+    "singlecabinet_3_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "oven_cabinet_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "singlecabinet_2_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "top_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_oven_right_group_1": {
+      "cls": "ToasterOven"
+    },
+    "sink_left_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "counter_2_left_group_1": {
+      "cls": "Counter"
+    },
+    "singlecabinet_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "hingecabinet_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_1_left_group_1": {
+      "cls": "Dishwasher"
+    },
+    "cube_3_left_group_1": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_1_3": {
+      "cls": "Drawer"
+    },
+    "cube_2_left_group_1": {
+      "cls": "Box"
+    },
+    "cube_1_left_group_1": {
+      "cls": "Box"
+    },
+    "knife_block_left_group_1": {
+      "cls": "Accessory"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.916061593132538,
+    -0.8248774578532652,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "rear_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000142/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000142/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fa9735be723d5548b70af4299787b845e19d051
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000142/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMPretrainAll",
+  "source_episode_index": 3,
+  "source_demo_key": "demo_3",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMPretrainAll",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000144/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000144/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c434b4d2f5fcdee14e10a62bd349ce8d2e662fc
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000144/ep_meta.json
@@ -0,0 +1,502 @@
+{
+  "layout_id": 29,
+  "style_id": 46,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stovetop_left_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_center"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan003/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.006089991083210428,
+          -0.04895079086662941,
+          0.022934635332920957
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_center"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_4_room": {
+      "cls": "Wall"
+    },
+    "wall_left_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_4_room": {
+      "cls": "Stool"
+    },
+    "bottom_main_group_base": {
+      "cls": "Box"
+    },
+    "bottom_main_group_1": {
+      "cls": "Drawer"
+    },
+    "oven_main_group": {
+      "cls": "Oven"
+    },
+    "oven_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "microwave_main_group": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "middle_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "top_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "fridge_main_group": {
+      "cls": "FridgeSideBySide"
+    },
+    "fridge_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_3": {
+      "cls": "Drawer"
+    },
+    "dishwasher_main_group": {
+      "cls": "Dishwasher"
+    },
+    "panel_stack_main_group_base": {
+      "cls": "Box"
+    },
+    "panel_stack_main_group_1": {
+      "cls": "PanelCabinet"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_4_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_5_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_6_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_oven_main_group": {
+      "cls": "ToasterOven"
+    },
+    "paper_towel_main_group": {
+      "cls": "Accessory"
+    },
+    "stovetop_left_group": {
+      "cls": "Stovetop"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_3": {
+      "cls": "PanelCabinet"
+    },
+    "stack_4_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_5_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_5_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_left_group_3": {
+      "cls": "Drawer"
+    },
+    "hood_left_group": {
+      "cls": "Hood"
+    },
+    "cab_1_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_4_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "coffee_machine_left_group": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_left_group": {
+      "cls": "Toaster"
+    },
+    "sink_island_group": {
+      "cls": "Sink"
+    },
+    "island_island_group": {
+      "cls": "Counter"
+    },
+    "panel_box_1_island_group_base": {
+      "cls": "Box"
+    },
+    "panel_box_1_island_group_1": {
+      "cls": "PanelCabinet"
+    },
+    "stack_1_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_island_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_5_island_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_island_group_3": {
+      "cls": "Drawer"
+    },
+    "panel_cab_2_island_group_base": {
+      "cls": "Box"
+    },
+    "panel_cab_2_island_group_1": {
+      "cls": "PanelCabinet"
+    },
+    "box_island_group": {
+      "cls": "Box"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front center burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    0.13256752435593594,
+    -4.094022108921906,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.1415926193612504
+  ],
+  "task_refs": {
+    "knob": "front_center",
+    "cookware_burner": "front_center"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000144/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000144/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ac7d693f38798398da3cc9086591865faf40c81
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000144/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMPretrainAll",
+  "source_episode_index": 5,
+  "source_demo_key": "demo_5",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMPretrainAll",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000146/actions.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000146/actions.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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new file mode 100644
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@@ -0,0 +1,3 @@
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@@ -0,0 +1,3 @@
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000149/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000149/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a2ba44e345e1d616414c6665bc9981aafb11e50
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000149/ep_meta.json
@@ -0,0 +1,446 @@
+{
+  "layout_id": 16,
+  "style_id": 38,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
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+            0.7853981633974483,
+            1.1780972450961724
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+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_21/model.xml"
+      },
+      "reset_region": {
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+          -0.17503039827568598,
+          0.15729823114968652,
+          0.4799969710344246
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_4_room": {
+      "cls": "Wall"
+    },
+    "wall_left_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_5_room": {
+      "cls": "Wall"
+    },
+    "wall_left_5_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_4_room": {
+      "cls": "Wall"
+    },
+    "wall_right_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_outer_room": {
+      "cls": "Wall"
+    },
+    "wall_left_outer_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_back_outer_room": {
+      "cls": "Wall"
+    },
+    "wall_back_outer_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_2_room": {
+      "cls": "WallAccessory"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "counter_corner_main_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "fridge_1_main_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridge_1_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "fridge_top_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "cab_corner_main_group_1": {
+      "cls": "Box"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "cab_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "paper_towel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "sink_1_right_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "box_1_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_right_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_right_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_4_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_5_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_5_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_5_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_right_group_1_3": {
+      "cls": "Drawer"
+    },
+    "dishwasher_right_group_1": {
+      "cls": "Dishwasher"
+    },
+    "panel_stack_right_group_1_base": {
+      "cls": "Box"
+    },
+    "panel_stack_right_group_1_1": {
+      "cls": "PanelCabinet"
+    },
+    "cab_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "coffee_machine_right_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_oven_right_group_1": {
+      "cls": "ToasterOven"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "island_island_group": {
+      "cls": "Counter"
+    },
+    "stack_1_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_2": {
+      "cls": "Drawer"
+    },
+    "box_1_island_group": {
+      "cls": "Box"
+    },
+    "box_2_island_group": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1": {
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+    "stack_2_island_group_2": {
+      "cls": "Drawer"
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+      "cls": "Drawer"
+    },
+    "stack_3_island_group_2": {
+      "cls": "Drawer"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
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+        "fovy": "60"
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+        0.3767866790294647,
+        -0.2993525564670563,
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+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    1.7044455331380446,
+    -0.8827490513361693,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "rear_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000149/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000149/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fcfdfd1548ac1e4c6736371d22dc290b8f8974f
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000149/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMPretrainAll",
+  "source_episode_index": 10,
+  "source_demo_key": "demo_10",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMPretrainAll",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000150/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000150/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ec656931894db6821fc7551b9bbe9f6094744b9
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000150/ep_meta.json
@@ -0,0 +1,343 @@
+{
+  "layout_id": 34,
+  "style_id": 23,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stovetop_left_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.14164740422948424,
+          -0.06693843318232545,
+          0.019036722857416182
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_4_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stovetop_left_group_1": {
+      "cls": "Stovetop"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_4_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "bottom_left_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "oven_left_group_1": {
+      "cls": "Oven"
+    },
+    "microwave_left_group_1": {
+      "cls": "Microwave"
+    },
+    "fridgefrenchdoor_left_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "oven_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_1_3": {
+      "cls": "PanelCabinet"
+    },
+    "stack_2_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "coffee_machine_left_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_left_group_1": {
+      "cls": "Toaster"
+    },
+    "toaster_oven_left_group_1": {
+      "cls": "ToasterOven"
+    },
+    "sink_island_group_1": {
+      "cls": "Sink"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_3_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_4_island_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_island_group_1": {
+      "cls": "Dishwasher"
+    },
+    "paper_towel_island_group_1": {
+      "cls": "Accessory"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    0.795580580324545,
+    -2.1279430999508238,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.1412906566438026
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "front_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000150/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000150/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..652816f70a8fabe2d2044041a5778639cc51387a
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000150/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMPretrainAll",
+  "source_episode_index": 11,
+  "source_demo_key": "demo_11",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMPretrainAll",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000151/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000151/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d360575745dfd3f453ac8f09a3d5f60560f6b225
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000151/ep_meta.json
@@ -0,0 +1,445 @@
+{
+  "layout_id": 16,
+  "style_id": 36,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan004/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.16654140081499832,
+          -0.0996524021700794,
+          0.48370738282279596
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_4_room": {
+      "cls": "Wall"
+    },
+    "wall_left_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_5_room": {
+      "cls": "Wall"
+    },
+    "wall_left_5_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_4_room": {
+      "cls": "Wall"
+    },
+    "wall_right_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_outer_room": {
+      "cls": "Wall"
+    },
+    "wall_left_outer_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_back_outer_room": {
+      "cls": "Wall"
+    },
+    "wall_back_outer_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_2_room": {
+      "cls": "WallAccessory"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "counter_corner_main_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "fridge_1_main_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridge_1_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "fridge_top_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "cab_corner_main_group_1": {
+      "cls": "Box"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "cab_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "paper_towel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "sink_1_right_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "box_1_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_right_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_right_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_4_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_5_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_5_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_5_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_right_group_1_3": {
+      "cls": "Drawer"
+    },
+    "dishwasher_right_group_1": {
+      "cls": "Dishwasher"
+    },
+    "panel_stack_right_group_1_base": {
+      "cls": "Box"
+    },
+    "panel_stack_right_group_1_1": {
+      "cls": "PanelCabinet"
+    },
+    "cab_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "coffee_machine_right_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_oven_right_group_1": {
+      "cls": "ToasterOven"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "island_island_group": {
+      "cls": "Counter"
+    },
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+      "cls": "Drawer"
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+    "stack_1_island_group_2": {
+      "cls": "Drawer"
+    },
+    "box_1_island_group": {
+      "cls": "Box"
+    },
+    "box_2_island_group": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_base": {
+      "cls": "Box"
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+      "cls": "Drawer"
+    },
+    "stack_3_island_group_2": {
+      "cls": "Drawer"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
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+      "parent_body": "mobilebase0_support"
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+        -0.3673907518386841,
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+        0.707107,
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+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "front_right",
+    "cookware_burner": "front_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000151/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000151/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7ee5114d42932f991934f4b7af2bcc5b2e6f5b4
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000151/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMPretrainAll",
+  "source_episode_index": 12,
+  "source_demo_key": "demo_12",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMPretrainAll",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000153/actions.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000153/actions.npz
new file mode 100644
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--- /dev/null
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new file mode 100644
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@@ -0,0 +1,3 @@
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new file mode 100644
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000154/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000154/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..160f4830293ad2b76c7bb917996073f955b88de9
--- /dev/null
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@@ -0,0 +1,400 @@
+{
+  "layout_id": 30,
+  "style_id": 60,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_left_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_left"
+          ]
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+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan006/model.xml"
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+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
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+    "wall_left_1_room": {
+      "cls": "Wall"
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+    "wall_left_1_backing_room": {
+      "cls": "Wall"
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+      "cls": "Wall"
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+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
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+      "cls": "WallAccessory"
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+    "light_switch_4_room": {
+      "cls": "WallAccessory"
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+      "cls": "WallAccessory"
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+      "cls": "WallAccessory"
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+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "window_group_3_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "stove_left_group": {
+      "cls": "Stove"
+    },
+    "counter_2_left_group": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_3": {
+      "cls": "Drawer"
+    },
+    "fridge_left_group": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridge_housing_left_group": {
+      "cls": "HousingCabinet"
+    },
+    "cab_1_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_left_group": {
+      "cls": "Microwave"
+    },
+    "cab_3_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_4_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_5_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_6_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_oven_left_group": {
+      "cls": "ToasterOven"
+    },
+    "coffee_machine_left_group": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_left_group": {
+      "cls": "Accessory"
+    },
+    "sink_right_group": {
+      "cls": "Sink"
+    },
+    "counter_1_right_group": {
+      "cls": "Counter"
+    },
+    "stack_1_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "dishwasher_right_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_2_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_right_group_base": {
+      "cls": "Box"
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+      "cls": "Drawer"
+    },
+    "stack_3_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_right_group": {
+      "cls": "Box"
+    },
+    "cab_1_right_group": {
+      "cls": "OpenCabinet"
+    },
+    "cab_2_right_group": {
+      "cls": "OpenCabinet"
+    },
+    "toaster_right_group": {
+      "cls": "Toaster"
+    },
+    "dining_front_group": {
+      "cls": "Counter"
+    },
+    "box_front_group": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1": {
+      "cls": "SingleCabinet"
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+    "stack_2_front_group_base": {
+      "cls": "Box"
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+      "cls": "Drawer"
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+    "stack_2_front_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_front_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_front_group_4": {
+      "cls": "Drawer"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
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+        -0.6,
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+      "camera_attribs": {
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+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
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+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
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+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
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+      ],
+      "quat": [
+        0,
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+        0
+      ],
+      "parent_body": "robot0_right_hand"
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+  },
+  "init_robot_base_pos": [
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+  "init_robot_base_ori": [
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+    0.0,
+    3.1415926193612504
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "front_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000154/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000154/source.json
new file mode 100644
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--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000154/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMPretrainAll",
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+  "source_demo_key": "demo_15",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMPretrainAll",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000155/actions.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000155/actions.npz
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new file mode 100644
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@@ -0,0 +1,436 @@
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+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stovetop_left_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.26108926525495824,
+          -0.12063114790635705,
+          -0.007280309186499837
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_2_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_3_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_5_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_6_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_7_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "bottom_main_group_base": {
+      "cls": "Box"
+    },
+    "bottom_main_group_1": {
+      "cls": "Drawer"
+    },
+    "oven_main_group": {
+      "cls": "Oven"
+    },
+    "oven_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "microwave_main_group": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "top_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "fridge_main_group": {
+      "cls": "FridgeSideBySide"
+    },
+    "fridge_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "counter_corner_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_1_main_group": {
+      "cls": "Box"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_oven_main_group": {
+      "cls": "ToasterOven"
+    },
+    "plant_main_group": {
+      "cls": "Accessory"
+    },
+    "stovetop_left_group": {
+      "cls": "Stovetop"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_5": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_6": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_3": {
+      "cls": "PanelCabinet"
+    },
+    "stack_4_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_5": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_6": {
+      "cls": "Drawer"
+    },
+    "stack_5_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "hood_left_group": {
+      "cls": "Hood"
+    },
+    "cab_1_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "paper_towel_left_group": {
+      "cls": "Accessory"
+    },
+    "coffee_machine_left_group": {
+      "cls": "CoffeeMachine"
+    },
+    "sink_1_right_group": {
+      "cls": "Sink"
+    },
+    "counter_1_right_group": {
+      "cls": "Counter"
+    },
+    "box_1_right_group": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_1_right_group": {
+      "cls": "Dishwasher"
+    },
+    "panel_stack_right_group_base": {
+      "cls": "Box"
+    },
+    "panel_stack_right_group_1": {
+      "cls": "PanelCabinet"
+    },
+    "wall_stack_right_group_base": {
+      "cls": "Box"
+    },
+    "wall_stack_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_right_group": {
+      "cls": "Toaster"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    0.8008256926545304,
+    -4.340506386730531,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.141592787948654
+  ],
+  "task_refs": {
+    "knob": "front_left",
+    "cookware_burner": "front_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000156/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000156/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..55e2d3e4fe1bd1b0f14cc296415396ed07212e79
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000156/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMPretrainAll",
+  "source_episode_index": 17,
+  "source_demo_key": "demo_17",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMPretrainAll",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000157/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000157/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..038f801d7fec5f2de611aa16f6f42ba0a6f809e4
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000157/ep_meta.json
@@ -0,0 +1,391 @@
+{
+  "layout_id": 32,
+  "style_id": 11,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "widestove_right_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_center"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.0006801035260546808,
+          0.20581413037136279,
+          0.45664063435832325
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_center"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "sink_main_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "opencabinet_1_main_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_main_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "cube_1_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_3_main_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "knifeblock_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "widestove_right_group_1": {
+      "cls": "Stove"
+    },
+    "widestove_hood_right_group_1": {
+      "cls": "Hood"
+    },
+    "singlecabinet_1_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_2_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_3_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "bottom_right_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "microwave_right_group_1": {
+      "cls": "Microwave"
+    },
+    "counter_2_right_group_1": {
+      "cls": "Counter"
+    },
+    "fridgesidebyside_right_group_1": {
+      "cls": "FridgeSideBySide"
+    },
+    "fridgesidebyside_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "oven_cabinet_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_1_right_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_1_3": {
+      "cls": "Drawer"
+    },
+    "coffee_machine_right_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "PanelCabinet"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "papertowel_island_group_1": {
+      "cls": "Accessory"
+    },
+    "plant_island_group_1": {
+      "cls": "Accessory"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear center burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.474530535915444,
+    -1.7090000170574573,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    0.00030199704781619374
+  ],
+  "task_refs": {
+    "knob": "rear_center",
+    "cookware_burner": "rear_center"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000157/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000157/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..678af7a5f1991daa4531cf4408e115e27c806a25
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000157/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMPretrainAll",
+  "source_episode_index": 18,
+  "source_demo_key": "demo_18",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMPretrainAll",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000158/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000158/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..79524a7e0e3dbb9db84dd04657c9995bfb6404cb
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000158/ep_meta.json
@@ -0,0 +1,406 @@
+{
+  "layout_id": 54,
+  "style_id": 44,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.15868875661279488,
+          0.14550572089201122,
+          0.4520059888974326
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_4_room": {
+      "cls": "Stool"
+    },
+    "fridgefrenchdoor_main_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "bottom_main_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "oven_cabinet_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_4_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_1_main_group_1": {
+      "cls": "Box"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "stove_hood_main_group_1": {
+      "cls": "Hood"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_02_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_02_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_02_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_01_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_01_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_oven_main_group_1": {
+      "cls": "ToasterOven"
+    },
+    "opencabinet_1_right_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "cube_3_right_group_1": {
+      "cls": "Box"
+    },
+    "cube_4_right_group_1": {
+      "cls": "Box"
+    },
+    "hingecabinet_6_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_5_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "sink_right_group_1": {
+      "cls": "Sink"
+    },
+    "counter_4_right_group_1": {
+      "cls": "Counter"
+    },
+    "stack_05_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_05_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_05_right_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_04_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_06_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_06_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_2_right_group_1": {
+      "cls": "Box"
+    },
+    "cube_1_right_group_1": {
+      "cls": "Box"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_07_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_07_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_07_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_08_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_08_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_08_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_3_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_4_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_06_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_06_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_06_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_island_group_1": {
+      "cls": "Dishwasher"
+    },
+    "plant_island_group_1": {
+      "cls": "Accessory"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.4097065228689685,
+    -0.9342764275048707,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5706379572530664
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "rear_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000158/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000158/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe3ab235f20071a6ea502d9bd88055ecd4dbe61a
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000158/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMPretrainAll",
+  "source_episode_index": 19,
+  "source_demo_key": "demo_19",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMPretrainAll",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000159/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000159/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7323b71d2a6b898310459ccf22df4e62335b8cd1
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000159/ep_meta.json
@@ -0,0 +1,428 @@
+{
+  "layout_id": 31,
+  "style_id": 17,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stovetop_right_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.16686190578148433,
+          0.13785714945934602,
+          -0.008009262015002122
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "fridgebottomfreezer_main_group_1": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridgebottomfreezer_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "bottom_main_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "oven_main_group_1": {
+      "cls": "Oven"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "hingecabinet_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_2_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_3_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_1_main_group_1": {
+      "cls": "Box"
+    },
+    "oven_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stovetop_right_group_1": {
+      "cls": "Stovetop"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_4_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hood_right_group_1": {
+      "cls": "Hood"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_1_3": {
+      "cls": "PanelCabinet"
+    },
+    "stack_5_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_5_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_5_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "coffee_machine_right_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "papertowel_right_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_oven_right_group_1": {
+      "cls": "ToasterOven"
+    },
+    "sink_island_group_1": {
+      "cls": "Sink"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_3_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_4_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_5_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_5_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_5_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "cube_6_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_7_island_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_island_group_1": {
+      "cls": "Dishwasher"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    4.86901528854994,
+    -4.671800055065963,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    0.00030199704781619374
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "rear_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000159/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000159/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..680310c1619299ecd27fb78a015c699d53974d4f
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000159/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMPretrainAll",
+  "source_episode_index": 20,
+  "source_demo_key": "demo_20",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMPretrainAll",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000160/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000160/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d6e20bd6e15b5fdd2537415b4507949e5566880
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000160/ep_meta.json
@@ -0,0 +1,407 @@
+{
+  "layout_id": 54,
+  "style_id": 21,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pot",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pot",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.1769749540436422,
+          -0.09697025316399842,
+          0.4799969710344246
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_4_room": {
+      "cls": "Stool"
+    },
+    "fridgefrenchdoor_main_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "bottom_main_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "oven_cabinet_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_4_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_1_main_group_1": {
+      "cls": "Box"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "stove_hood_main_group_1": {
+      "cls": "Hood"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_02_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_02_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_02_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_01_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_01_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_oven_main_group_1": {
+      "cls": "ToasterOven"
+    },
+    "opencabinet_1_right_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "cube_3_right_group_1": {
+      "cls": "Box"
+    },
+    "cube_4_right_group_1": {
+      "cls": "Box"
+    },
+    "hingecabinet_6_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_5_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "sink_right_group_1": {
+      "cls": "Sink"
+    },
+    "counter_4_right_group_1": {
+      "cls": "Counter"
+    },
+    "stack_05_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_05_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_05_right_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_04_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_06_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_06_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_2_right_group_1": {
+      "cls": "Box"
+    },
+    "cube_1_right_group_1": {
+      "cls": "Box"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_07_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_07_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_07_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_08_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_08_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_08_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_3_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_4_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_06_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_06_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_06_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_island_group_1": {
+      "cls": "Dishwasher"
+    },
+    "plant_island_group_1": {
+      "cls": "Accessory"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.254034724785513,
+    -0.9639882143989782,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5706379572530664
+  ],
+  "task_refs": {
+    "knob": "front_left",
+    "cookware_burner": "front_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000160/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000160/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..0aaf436e5badbfcab105717c2b497bc1bccc4158
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000160/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMPretrainAll",
+  "source_episode_index": 21,
+  "source_demo_key": "demo_21",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMPretrainAll",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000163/actions.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000163/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..680b1423f7e1b2835630d673b42a833a08244c55
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000163/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 25427
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000163/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000163/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..4efcf5c19af7f3eb1d1614e780ce9485d8d20255
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000163/model.xml.gz
@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000163/rewards_dense.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000163/rewards_dense.npz
new file mode 100644
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--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000163/rewards_dense.npz
@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000163/states.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000163/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..742d8e9cd975f203c20e70bccabcf50c93b25144
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000163/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b78cb4275b98e2c309056de348690f98b7fcbacefccb93775f868d5f7291b40
+size 350082
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000165/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000165/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5f32b43a278e9e4f9962196f72b269b20241708
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000165/ep_meta.json
@@ -0,0 +1,368 @@
+{
+  "layout_id": 36,
+  "style_id": 30,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_right_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_left"
+          ]
+        },
+        "size": [
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+          0.02
+        ],
+        "rotation": [
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+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "kettle_non_electric",
+          "receptacle",
+          "kettle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "kettle_non_electric",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_20/model.xml"
+      },
+      "reset_region": {
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+          0.4390424604150111
+        ],
+        "size": [
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+          0.1
+        ],
+        "name": "front_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
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+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_5_room": {
+      "cls": "Wall"
+    },
+    "wall_left_5_backing_room": {
+      "cls": "Wall"
+    },
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+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.001_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.002_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.003_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "counter_1_front_group_1": {
+      "cls": "Counter"
+    },
+    "fridgefrenchdoor_front_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_front_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "stack_1_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1_1": {
+      "cls": "HingeCabinet"
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+      "cls": "Drawer"
+    },
+    "cube_2_front_group_1": {
+      "cls": "Box"
+    },
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+      "cls": "Box"
+    },
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+      "cls": "Accessory"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "counter_2_right_group_1": {
+      "cls": "Counter"
+    },
+    "stove_right_group_1": {
+      "cls": "Stove"
+    },
+    "microwave_right_group_1": {
+      "cls": "Microwave"
+    },
+    "micro_cab_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "plant_right_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "toaster_oven_right_group_1": {
+      "cls": "ToasterOven"
+    },
+    "sink_left_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_left_group_1_2": {
+      "cls": "Drawer"
+    },
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+      "cls": "Box"
+    },
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+      "cls": "Box"
+    },
+    "stack_2_left_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_left_group_1_2": {
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+    },
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+      "cls": "Box"
+    },
+    "stack_3_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "dishwasher_1_left_group_1": {
+      "cls": "Dishwasher"
+    },
+    "coffee_machine_left_group_1": {
+      "cls": "CoffeeMachine"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
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+        0.0,
+        1.15
+      ],
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+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
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+      "parent_body": "mobilebase0_support"
+    },
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+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
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+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
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+        -0.35,
+        1.05
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+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
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+        "fovy": "60"
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+      "parent_body": "mobilebase0_support"
+    },
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+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.1203040150875934,
+    -1.283993578499641,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    0.00030199704781619374
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "front_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000165/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000165/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..81039a3b6c8f3a3b6f1b01e0534e1924d4a876d1
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000165/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMPretrainAll",
+  "source_episode_index": 26,
+  "source_demo_key": "demo_26",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMPretrainAll",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000168/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000168/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2840b3e336a96e008c1268a29c86d50ccc020008
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000168/ep_meta.json
@@ -0,0 +1,377 @@
+{
+  "layout_id": 58,
+  "style_id": 33,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_island_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
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+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_23/model.xml"
+      },
+      "reset_region": {
+        "offset": [
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+          -0.09055386345125134,
+          0.4619347540804282
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_left"
+      }
+    }
+  ],
+  "fixtures": {
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+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_7_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_03_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_01_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_02_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "window_group_3_room": {
+      "cls": "Window"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "sink_main_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "hingecabinet_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_14_main_group_1": {
+      "cls": "Box"
+    },
+    "stack_04_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_04_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_03_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_02_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_02_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_02_main_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "stack_01_main_group_1_base": {
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+    },
+    "stack_01_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_15_main_group_1": {
+      "cls": "Box"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "bottom_left_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "microwave_left_group_1": {
+      "cls": "Microwave"
+    },
+    "fridgefrenchdoor_left_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "oven_cabinet_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "island_1_island_group_1": {
+      "cls": "Counter"
+    },
+    "island_2_island_group_1": {
+      "cls": "Counter"
+    },
+    "island_3_island_group_1": {
+      "cls": "Counter"
+    },
+    "stove_island_group_1": {
+      "cls": "Stove"
+    },
+    "stove_hood_island_group_1": {
+      "cls": "Hood"
+    },
+    "stack_06_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_06_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_06_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_07_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_07_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_07_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_07_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_08_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_08_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_16_island_group_1": {
+      "cls": "Box"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
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+    "robot0_agentview_right": {
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+      "parent_body": "mobilebase0_support"
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+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.63872558579908,
+    -2.125201589864998,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    4.7122376720160215
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "front_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000168/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000168/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c8d39fd7b9d53bf9256b405573927ecc79777f9
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000168/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMPretrainAll",
+  "source_episode_index": 29,
+  "source_demo_key": "demo_29",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMPretrainAll",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000169/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000169/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0713e6a34b119534f6d209393c7202a5457efadb
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000169/ep_meta.json
@@ -0,0 +1,395 @@
+{
+  "layout_id": 38,
+  "style_id": 12,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_left_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.19439659994361227,
+          -0.10836629619364739,
+          0.45384256111761867
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_room": {
+      "cls": "Wall"
+    },
+    "wall_right_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory.001_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.005_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.003_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.004_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.007_room": {
+      "cls": "WallAccessory"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_4_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "sink_main_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "opencabinet_1_main_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "opencabinet_2_main_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "stack_3_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "coffeemachine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "bottom_main_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "oven_cabinet_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "stove_left_group_1": {
+      "cls": "Stove"
+    },
+    "counter_2_left_group_1": {
+      "cls": "Counter"
+    },
+    "fridgesidebyside_left_group_1": {
+      "cls": "FridgeSideBySide"
+    },
+    "fridgesidebyside_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_4_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "knifeblock_left_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_oven_left_group_1": {
+      "cls": "ToasterOven"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "cube_3_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    0.8494884656911613,
+    -4.292167647681973,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.1412906566438026
+  ],
+  "task_refs": {
+    "knob": "front_right",
+    "cookware_burner": "front_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000169/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000169/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cd34710608b5299d160b62862ce3c0e9c90e78b
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000169/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicTargetOnly100",
+  "source_episode_index": 0,
+  "source_demo_key": "demo_0",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicTargetOnly100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000171/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000171/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..45973938a9ad1ef62166876814ffb1c9d2031f05
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000171/ep_meta.json
@@ -0,0 +1,400 @@
+{
+  "layout_id": 60,
+  "style_id": 36,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_17/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.1634830763681588,
+          -0.09961690942935982,
+          0.48370738282279596
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_01_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_01_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_04_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_12_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_06_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_07_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_08_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_09_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_10_room": {
+      "cls": "WallAccessory"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_11_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_3_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "micro_cab_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_01_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_02_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_3_main_group_1": {
+      "cls": "Box"
+    },
+    "singlecabinet_01_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_6_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_6_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_6_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_6_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_5_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_11_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_12_main_group_1": {
+      "cls": "Box"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "plant_main_group_1": {
+      "cls": "Accessory"
+    },
+    "fridgebottomfreezer_right_group_1": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridgebottomfreezer_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_05_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "counter_6_right_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_04_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_06_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_7_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_7_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_7_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_8_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_8_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_13_right_group_1": {
+      "cls": "Box"
+    },
+    "toaster_oven_right_group_1": {
+      "cls": "ToasterOven"
+    },
+    "sink_left_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "counter_5_left_group_1": {
+      "cls": "Counter"
+    },
+    "cube_1_left_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_left_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_3_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_4_left_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_left_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_left_group_1": {
+      "cls": "Dishwasher"
+    },
+    "toaster_left_group_1": {
+      "cls": "Toaster"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
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+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
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+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
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+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
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+        -0.5,
+        0,
+        0.95
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+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.233785081445816,
+    -0.8287434821425904,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "front_left",
+    "cookware_burner": "front_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000171/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000171/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..683c5db8a29d6b14750d7638172cfbd2e49389f6
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000171/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicTargetOnly100",
+  "source_episode_index": 2,
+  "source_demo_key": "demo_2",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicTargetOnly100",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000172/actions.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000172/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1cfe761c86ac411f91d33c0c39879207da65efcd
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000172/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000172/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000172/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..ccd5855a37bbe79a95558dcb09e64d8ed4340dc3
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000172/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57e4c7c6012e4a264c31d92490509c988723fe8b6f8e8008959c744a66b41113
+size 45079
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000172/rewards_dense.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000172/rewards_dense.npz
new file mode 100644
index 0000000000000000000000000000000000000000..848db262e28a28bd6615f38fb429cb0a5c77f803
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000172/rewards_dense.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c5d4cfcc122e7388190fff85748f7f30c9fba5f44689e7a61332bdb7fd797ab
+size 613
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000172/states.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000172/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..edac1c9ce8b212b98486caf782d96d9d3f46e45d
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000172/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000173/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000173/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a31edbd64734786cac133cb795feda0f3b871f3
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000173/ep_meta.json
@@ -0,0 +1,368 @@
+{
+  "layout_id": 36,
+  "style_id": 33,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_right_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_right"
+          ]
+        },
+        "size": [
+          0.02,
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+            1.1780972450961724
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+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "kettle_non_electric",
+          "receptacle",
+          "kettle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "kettle_non_electric",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle013/model.xml"
+      },
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+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
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+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
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+    "wall_left_3_backing_room": {
+      "cls": "Wall"
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+    "wall_front_2_backing_room": {
+      "cls": "Wall"
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+    "wall_left_5_room": {
+      "cls": "Wall"
+    },
+    "wall_left_5_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
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+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.001_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.002_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.003_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "counter_1_front_group_1": {
+      "cls": "Counter"
+    },
+    "fridgefrenchdoor_front_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_front_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "stack_1_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_2_front_group_1": {
+      "cls": "Box"
+    },
+    "cube_1_front_group_1": {
+      "cls": "Box"
+    },
+    "papertowel_front_group_1": {
+      "cls": "Accessory"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "counter_2_right_group_1": {
+      "cls": "Counter"
+    },
+    "stove_right_group_1": {
+      "cls": "Stove"
+    },
+    "microwave_right_group_1": {
+      "cls": "Microwave"
+    },
+    "micro_cab_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "plant_right_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "toaster_oven_right_group_1": {
+      "cls": "ToasterOven"
+    },
+    "sink_left_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_1_left_group_1": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_left_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_3_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "dishwasher_1_left_group_1": {
+      "cls": "Dishwasher"
+    },
+    "coffee_machine_left_group_1": {
+      "cls": "CoffeeMachine"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
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+        0.3325185477733612,
+        -0.3199238181114197,
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+    },
+    "robot0_agentview_left": {
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+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
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+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.110316468332321,
+    -1.3810456833616764,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    0.00030199704781619374
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "rear_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000173/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000173/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..59663c4fb67ead67e3126e6c4b923521f25baae0
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000173/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicTargetOnly100",
+  "source_episode_index": 4,
+  "source_demo_key": "demo_4",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicTargetOnly100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000174/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000174/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fbe6ca9ca15841e9b569062cb65fe04a35969ed
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000174/ep_meta.json
@@ -0,0 +1,431 @@
+{
+  "layout_id": 33,
+  "style_id": 13,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "widestove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_center"
+          ]
+        },
+        "size": [
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+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml"
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+        "name": "front_center"
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+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
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+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3.001_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3.001_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2.001_room": {
+      "cls": "Floor"
+    },
+    "floor_2.001_backing_room": {
+      "cls": "Floor"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_4_room": {
+      "cls": "Stool"
+    },
+    "counter_2_right_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "fridgefrenchdoor_right_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_4_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "bottom_right_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "microwave_right_group_1": {
+      "cls": "Microwave"
+    },
+    "oven_cabinet_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "coffee_machine_right_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "widestove_main_group_1": {
+      "cls": "Stove"
+    },
+    "widestove_hood_main_group_1": {
+      "cls": "Hood"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "knife_block_main_group_1": {
+      "cls": "Accessory"
+    },
+    "paper_towel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_oven_main_group_1": {
+      "cls": "ToasterOven"
+    },
+    "sink_island_group_1": {
+      "cls": "Sink"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_island_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_4_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_3_island_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_island_group_1": {
+      "cls": "Dishwasher"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front center burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.190656743976954,
+    -0.8737571461911533,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "front_center",
+    "cookware_burner": "front_center"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000174/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000174/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..60ea77d3367668f790c5272c3b85df83be3cd6d9
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000174/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicTargetOnly100",
+  "source_episode_index": 5,
+  "source_demo_key": "demo_5",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicTargetOnly100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000175/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000175/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af4ed77db4300e87413a5ce65d7884ad7a93f1dc
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000175/ep_meta.json
@@ -0,0 +1,587 @@
+{
+  "layout_id": 25,
+  "style_id": 57,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_center"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.0004089182340682899,
+          -0.15854196794332398,
+          0.4450249861283757
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_center"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_2_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_6_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_7_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_main_group": {
+      "cls": "Counter"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "stove_main_group": {
+      "cls": "Stove"
+    },
+    "counter_2_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_1_main_group": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_6_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_6_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_2_main_group": {
+      "cls": "Box"
+    },
+    "hood_main_group": {
+      "cls": "Hood"
+    },
+    "cab_corner_1_main_group": {
+      "cls": "Box"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_above_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_2_above_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_corner_2_main_group": {
+      "cls": "Box"
+    },
+    "cab_3_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_3_above_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_4_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_4_above_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "coffee_machine_main_group": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_main_group": {
+      "cls": "Toaster"
+    },
+    "knife_block_main_group": {
+      "cls": "Accessory"
+    },
+    "sink_1_left_group": {
+      "cls": "Sink"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "box_left_group": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_left_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_left_group_2": {
+      "cls": "Drawer"
+    },
+    "cab_1_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_4_left_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_5_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_6_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "paper_towel_left_group": {
+      "cls": "Accessory"
+    },
+    "toaster_oven_left_group": {
+      "cls": "ToasterOven"
+    },
+    "corner_counter_right_group": {
+      "cls": "Counter"
+    },
+    "counter_1_right_group": {
+      "cls": "Counter"
+    },
+    "box_right_group": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1": {
+      "cls": "PanelCabinet"
+    },
+    "fridge_right_group": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridge_housing_right_group": {
+      "cls": "HousingCabinet"
+    },
+    "bottom_right_group_base": {
+      "cls": "Box"
+    },
+    "bottom_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "middle_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_right_group": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_right_group": {
+      "cls": "HousingCabinet"
+    },
+    "top_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "counter_2_right_group": {
+      "cls": "Counter"
+    },
+    "stack_2_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_right_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_4": {
+      "cls": "Drawer"
+    },
+    "plant_right_group": {
+      "cls": "Accessory"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_island_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_island_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_island_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_island_group_2_2": {
+      "cls": "Drawer"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front center burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.584727342702218,
+    -0.890955131893169,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "front_center",
+    "cookware_burner": "front_center"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000175/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000175/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..c747146045b986c1504556f5ce4a93c626ba3fb1
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000175/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicTargetOnly100",
+  "source_episode_index": 6,
+  "source_demo_key": "demo_6",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicTargetOnly100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000177/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000177/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5663994dd810867f2cdee72d14627c4d3e25c95
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000177/ep_meta.json
@@ -0,0 +1,452 @@
+{
+  "layout_id": 23,
+  "style_id": 40,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_left_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.29071982210272057,
+          -0.09266853653891137,
+          0.4430062249049935
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_6_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_7_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_1_main_group": {
+      "cls": "Counter"
+    },
+    "sink_1_main_group": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "counter_corner_2_main_group": {
+      "cls": "Counter"
+    },
+    "box_1_main_group": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_main_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "box_2_main_group": {
+      "cls": "Box"
+    },
+    "cab_1_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_4_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "top_corner_box_main_group": {
+      "cls": "Box"
+    },
+    "coffee_machine_main_group": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_main_group": {
+      "cls": "Accessory"
+    },
+    "plant_main_group": {
+      "cls": "Accessory"
+    },
+    "knife_block_main_group": {
+      "cls": "Accessory"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "stove_left_group": {
+      "cls": "Stove"
+    },
+    "counter_2_left_group": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "box_left_group": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hood_left_group": {
+      "cls": "Hood"
+    },
+    "cab_1_left_group": {
+      "cls": "OpenCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "OpenCabinet"
+    },
+    "toaster_oven_left_group": {
+      "cls": "ToasterOven"
+    },
+    "toaster_left_group": {
+      "cls": "Toaster"
+    },
+    "counter_1_right_group": {
+      "cls": "Counter"
+    },
+    "box_right_group": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_3": {
+      "cls": "Drawer"
+    },
+    "bottom_right_group_base": {
+      "cls": "Box"
+    },
+    "bottom_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "bottom_right_group_2": {
+      "cls": "Drawer"
+    },
+    "microwave_right_group": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_right_group": {
+      "cls": "HousingCabinet"
+    },
+    "top_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "fridge_right_group": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridge_housing_right_group": {
+      "cls": "HousingCabinet"
+    },
+    "cab_1_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "island_1_island_group": {
+      "cls": "Counter"
+    },
+    "island_box_island_group": {
+      "cls": "Box"
+    },
+    "island_2_island_group": {
+      "cls": "Counter"
+    },
+    "panel_stack_1_island_group_base": {
+      "cls": "Box"
+    },
+    "panel_stack_1_island_group_1": {
+      "cls": "PanelCabinet"
+    },
+    "stack_1_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "panel_stack_2_island_group_base": {
+      "cls": "Box"
+    },
+    "panel_stack_2_island_group_1": {
+      "cls": "PanelCabinet"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear center burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    0.9132325400443041,
+    -2.1603116459111638,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.1415926193612504
+  ],
+  "task_refs": {
+    "knob": "rear_center",
+    "cookware_burner": "front_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000177/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000177/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..73b34b4b7673a74c10861594b65f8ae06a8cfb37
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000177/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicTargetOnly100",
+  "source_episode_index": 8,
+  "source_demo_key": "demo_8",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicTargetOnly100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000178/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000178/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a864d0cb794b3fe2b36261d08809ef65ff4895ba
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000178/ep_meta.json
@@ -0,0 +1,464 @@
+{
+  "layout_id": 56,
+  "style_id": 39,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "kettle_non_electric",
+          "receptacle",
+          "kettle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "kettle_non_electric",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_28/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.2639361042517453,
+          0.15454744163682288,
+          0.44016840716083067
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_02_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_03_room": {
+      "cls": "WallAccessory"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stack_13_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_13_island_group_2_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_04_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_04_island_group_2_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_12_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_12_island_group_2_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "hingecabinet_5_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_4_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "opencabinet_2_main_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "opencabinet_3_main_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_3_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "stove_hood_main_group_1": {
+      "cls": "Hood"
+    },
+    "cube_4_main_group_1": {
+      "cls": "Box"
+    },
+    "stack_11_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_11_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_03_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_02_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_02_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_04_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_04_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_04_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_08_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_08_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_08_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_06_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_06_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_07_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_07_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_07_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_07_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "cube_8_main_group_1": {
+      "cls": "Box"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "plant_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_oven_main_group_1": {
+      "cls": "ToasterOven"
+    },
+    "singlecabinet_1_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "hingecabinet_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_9_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "counter_8_right_group_1": {
+      "cls": "Counter"
+    },
+    "stack_6_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_6_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_6_right_group_1_2": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_11_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_7_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_7_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_7_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_12_right_group_1": {
+      "cls": "Box"
+    },
+    "fridgefrenchdoor_right_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "bottom_right_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "oven_cabinet_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_right_group_1": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "sink_island_group_1": {
+      "cls": "Sink"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_11_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_11_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_11_island_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_09_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_09_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_09_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_09_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_10_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_10_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_10_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "dishwasher_1_island_group_1": {
+      "cls": "Dishwasher"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.1771684088678276,
+    -0.8769910437500956,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.57064844767067
+  ],
+  "task_refs": {
+    "knob": "front_right",
+    "cookware_burner": "rear_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000178/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000178/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4012b2a207e7e1af8617a9c74762e2e161c51ca
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000178/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicTargetOnly100",
+  "source_episode_index": 9,
+  "source_demo_key": "demo_9",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicTargetOnly100",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000179/actions.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000179/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8b9a15886507908977d016449505b748a95681d1
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000179/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aff2f77e7277ce8c9462c853b7abba4a47114cb8a6762779e30edbfee7ffc1b9
+size 25116
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000179/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000179/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..7ebe6ed3ed082d3f1f430d205112e341b763c586
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000179/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:901d291fab8a7a9f7701b616da7bf8ec551cb645f89dd6cbdb81ba81a7bec26f
+size 43145
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000179/rewards_dense.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000179/rewards_dense.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f75aad4c6f3c101f979ab406cf6fc9ca92f46200
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000179/rewards_dense.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbe40594de4c7488993208c582e0073d0ef67308123ed11c3047e68224d519b0
+size 619
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000179/states.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000179/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ac58f348ab3ab18939533a2691c23f07483de946
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000179/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee977d42bbca8d4512dca8066465b0989bbb56e6346b2546e050c4d2fcb2a7d9
+size 420876
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000181/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000181/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c487b230682e3d6537d051273c66d69a3bb9036a
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000181/ep_meta.json
@@ -0,0 +1,407 @@
+{
+  "layout_id": 54,
+  "style_id": 31,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.1634830763681588,
+          -0.09961690942935982,
+          0.48370738282279596
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_4_room": {
+      "cls": "Stool"
+    },
+    "fridgefrenchdoor_main_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "bottom_main_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "oven_cabinet_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_4_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_1_main_group_1": {
+      "cls": "Box"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "stove_hood_main_group_1": {
+      "cls": "Hood"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_02_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_02_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_02_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_01_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_01_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_oven_main_group_1": {
+      "cls": "ToasterOven"
+    },
+    "opencabinet_1_right_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "cube_3_right_group_1": {
+      "cls": "Box"
+    },
+    "cube_4_right_group_1": {
+      "cls": "Box"
+    },
+    "hingecabinet_6_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_5_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "sink_right_group_1": {
+      "cls": "Sink"
+    },
+    "counter_4_right_group_1": {
+      "cls": "Counter"
+    },
+    "stack_05_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_05_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_05_right_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_04_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_06_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_06_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_2_right_group_1": {
+      "cls": "Box"
+    },
+    "cube_1_right_group_1": {
+      "cls": "Box"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_07_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_07_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_07_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_08_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_08_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_08_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_3_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_4_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_06_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_06_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_06_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_island_group_1": {
+      "cls": "Dishwasher"
+    },
+    "plant_island_group_1": {
+      "cls": "Accessory"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.310218061343276,
+    -1.0165714899329672,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5706379572530664
+  ],
+  "task_refs": {
+    "knob": "front_left",
+    "cookware_burner": "front_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000181/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000181/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa2be9981308346845b63375fba3797c4f0aac3d
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000181/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicTargetOnly100",
+  "source_episode_index": 12,
+  "source_demo_key": "demo_12",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicTargetOnly100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000182/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000182/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3b7e4bdb8c0335d14d43df8d3b36414b6af3295
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000182/ep_meta.json
@@ -0,0 +1,415 @@
+{
+  "layout_id": 53,
+  "style_id": 45,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_right_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan004/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.1728141384636687,
+          -0.08637226381397044,
+          0.39483243421698316
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_4_room": {
+      "cls": "Wall"
+    },
+    "wall_front_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "hingecabinet_3_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "sink_main_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "cube_2_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_3_main_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_main_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_2_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "paper_towel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "dining_dining_area_group_1": {
+      "cls": "Counter"
+    },
+    "stack_3_dining_area_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_dining_area_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_dining_area_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_dining_area_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_dining_area_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_dining_area_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_5_dining_area_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_5_dining_area_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_5_dining_area_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_6_dining_area_group_1": {
+      "cls": "Box"
+    },
+    "cube_1_dining_area_group_1": {
+      "cls": "Box"
+    },
+    "cube_4_right_group_1": {
+      "cls": "Box"
+    },
+    "hingecabinet_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_2_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_3_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "counter_4_right_group_1": {
+      "cls": "Counter"
+    },
+    "counter_5_right_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "stove_right_group_1": {
+      "cls": "Stove"
+    },
+    "microwave_right_group_1": {
+      "cls": "Microwave"
+    },
+    "micro_cab_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_6_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_6_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_6_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_7_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_7_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_7_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_8_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_8_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "toaster_oven_right_group_1": {
+      "cls": "ToasterOven"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "hingecabinet_4_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "counter_3_front_group_1": {
+      "cls": "Counter"
+    },
+    "stack_9_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_9_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_1_front_group_1": {
+      "cls": "Box"
+    },
+    "fridgefrenchdoor_front_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_front_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_2_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "coffee_machine_front_group_1": {
+      "cls": "CoffeeMachine"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    4.893555866828799,
+    -3.500348803433507,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    -0.0001513629834557495
+  ],
+  "task_refs": {
+    "knob": "front_right",
+    "cookware_burner": "front_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000182/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000182/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..79bc23bb8c0e9166ca765176d371cc1abebefbfa
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000182/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicTargetOnly100",
+  "source_episode_index": 13,
+  "source_demo_key": "demo_13",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicTargetOnly100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000183/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000183/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..77cc071e00a5eed34af2aa09f2f4b243fc8a5d53
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000183/ep_meta.json
@@ -0,0 +1,452 @@
+{
+  "layout_id": 23,
+  "style_id": 33,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_left_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "kettle_non_electric",
+          "receptacle",
+          "kettle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "kettle_non_electric",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle006/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.26452971499762806,
+          0.1661242763061401,
+          0.47018691497155635
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_6_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_7_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_1_main_group": {
+      "cls": "Counter"
+    },
+    "sink_1_main_group": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "counter_corner_2_main_group": {
+      "cls": "Counter"
+    },
+    "box_1_main_group": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_main_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "box_2_main_group": {
+      "cls": "Box"
+    },
+    "cab_1_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_4_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "top_corner_box_main_group": {
+      "cls": "Box"
+    },
+    "coffee_machine_main_group": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_main_group": {
+      "cls": "Accessory"
+    },
+    "plant_main_group": {
+      "cls": "Accessory"
+    },
+    "knife_block_main_group": {
+      "cls": "Accessory"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "stove_left_group": {
+      "cls": "Stove"
+    },
+    "counter_2_left_group": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "box_left_group": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hood_left_group": {
+      "cls": "Hood"
+    },
+    "cab_1_left_group": {
+      "cls": "OpenCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "OpenCabinet"
+    },
+    "toaster_oven_left_group": {
+      "cls": "ToasterOven"
+    },
+    "toaster_left_group": {
+      "cls": "Toaster"
+    },
+    "counter_1_right_group": {
+      "cls": "Counter"
+    },
+    "box_right_group": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_3": {
+      "cls": "Drawer"
+    },
+    "bottom_right_group_base": {
+      "cls": "Box"
+    },
+    "bottom_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "bottom_right_group_2": {
+      "cls": "Drawer"
+    },
+    "microwave_right_group": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_right_group": {
+      "cls": "HousingCabinet"
+    },
+    "top_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "fridge_right_group": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridge_housing_right_group": {
+      "cls": "HousingCabinet"
+    },
+    "cab_1_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "island_1_island_group": {
+      "cls": "Counter"
+    },
+    "island_box_island_group": {
+      "cls": "Box"
+    },
+    "island_2_island_group": {
+      "cls": "Counter"
+    },
+    "panel_stack_1_island_group_base": {
+      "cls": "Box"
+    },
+    "panel_stack_1_island_group_1": {
+      "cls": "PanelCabinet"
+    },
+    "stack_1_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "panel_stack_2_island_group_base": {
+      "cls": "Box"
+    },
+    "panel_stack_2_island_group_1": {
+      "cls": "PanelCabinet"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    0.9147303404282783,
+    -2.1639619845579126,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.1415926193612504
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "rear_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000183/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000183/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..2154f1ae20fc3e23dcb26b57c944609703114db6
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000183/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicTargetOnly100",
+  "source_episode_index": 14,
+  "source_demo_key": "demo_14",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicTargetOnly100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000184/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000184/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a0ca8962d9767da98eeb8d36a7d1a6e47455d53
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000184/ep_meta.json
@@ -0,0 +1,428 @@
+{
+  "layout_id": 31,
+  "style_id": 36,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stovetop_right_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.26269995242426386,
+          0.14062405596327,
+          -0.003325541657284443
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "fridgebottomfreezer_main_group_1": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridgebottomfreezer_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "bottom_main_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "oven_main_group_1": {
+      "cls": "Oven"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "hingecabinet_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_2_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_3_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_1_main_group_1": {
+      "cls": "Box"
+    },
+    "oven_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stovetop_right_group_1": {
+      "cls": "Stovetop"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_4_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hood_right_group_1": {
+      "cls": "Hood"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_1_3": {
+      "cls": "PanelCabinet"
+    },
+    "stack_5_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_5_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_5_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "coffee_machine_right_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "papertowel_right_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_oven_right_group_1": {
+      "cls": "ToasterOven"
+    },
+    "sink_island_group_1": {
+      "cls": "Sink"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_3_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_4_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_5_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_5_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_5_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "cube_6_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_7_island_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_island_group_1": {
+      "cls": "Dishwasher"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
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+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
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+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    4.883277592450092,
+    -4.860158005049456,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    0.00030199704781619374
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "rear_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000184/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000184/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..c71404d29c94b1a9665786d18f71c6a8532b1c67
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000184/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicTargetOnly100",
+  "source_episode_index": 15,
+  "source_demo_key": "demo_15",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicTargetOnly100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000185/actions.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000185/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6f250d5e74a7313735ef156f836863864782b7b0
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000185/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 25169
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000185/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000185/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..211a05d185f55294435a09821a01190006417526
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000185/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 43984
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000185/rewards_dense.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000185/rewards_dense.npz
new file mode 100644
index 0000000000000000000000000000000000000000..848db262e28a28bd6615f38fb429cb0a5c77f803
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000185/rewards_dense.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 613
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000185/states.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000185/states.npz
new file mode 100644
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--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000185/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000186/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000186/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f6da978686dfa11924af28f3107ea161d28ea60
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000186/ep_meta.json
@@ -0,0 +1,398 @@
+{
+  "layout_id": 11,
+  "style_id": 43,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_1_main_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_right"
+          ]
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+            1.1780972450961724
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+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pot",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pot",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml"
+      },
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+          0.16156454641941922,
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+        "name": "rear_right"
+      }
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+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
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+    "wall_left_outer_room": {
+      "cls": "Wall"
+    },
+    "wall_left_outer_backing_room": {
+      "cls": "Wall"
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+    "wall_back_outer_room": {
+      "cls": "Wall"
+    },
+    "wall_back_outer_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
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+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_main_group": {
+      "cls": "Counter"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "stove_1_main_group": {
+      "cls": "Stove"
+    },
+    "counter_2_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_main_group_2": {
+      "cls": "SingleCabinet"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_main_group": {
+      "cls": "Microwave"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "counter_stack_main_group_base": {
+      "cls": "Box"
+    },
+    "counter_stack_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "counter_stack_main_group_2": {
+      "cls": "SingleCabinet"
+    },
+    "counter_stack_main_group_3": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_main_group": {
+      "cls": "Toaster"
+    },
+    "sink_left_group": {
+      "cls": "Sink"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "counter_left_group": {
+      "cls": "Counter"
+    },
+    "panel_cab_left_group_base": {
+      "cls": "Box"
+    },
+    "panel_cab_left_group_1": {
+      "cls": "PanelCabinet"
+    },
+    "dishwasher_left_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_left_group_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_left_group_2": {
+      "cls": "Drawer"
+    },
+    "box_left_group": {
+      "cls": "Box"
+    },
+    "coffee_machine_left_group": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_left_group": {
+      "cls": "Accessory"
+    },
+    "box_right_group": {
+      "cls": "Box"
+    },
+    "fridge_right_group": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridge_housing_right_group": {
+      "cls": "HousingCabinet"
+    },
+    "cab_1_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "dining_dining_group": {
+      "cls": "Counter"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
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+        -0.3199238181114197,
+        -0.6175596117973328
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+      "parent_body": "mobilebase0_support"
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+    "robot0_agentview_left": {
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+        1.05
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+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
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+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
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+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
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+        -0.5,
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+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
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+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
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+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.215109247936911,
+    -0.8573135546480796,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "rear_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000186/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000186/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..27c3a76420cea76aa7418fdf048704a194e896c2
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000186/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicTargetOnly100",
+  "source_episode_index": 17,
+  "source_demo_key": "demo_17",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicTargetOnly100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000187/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000187/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..77c9fe714b9b93562d91fb06efdca60c227abc93
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000187/ep_meta.json
@@ -0,0 +1,397 @@
+{
+  "layout_id": 11,
+  "style_id": 11,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_1_main_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_left"
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+        "size": [
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+            1.1780972450961724
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+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
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+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan006/model.xml"
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+        "size": [
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+          0.1
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+        "name": "rear_left"
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+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
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+    "wall_left_1_backing_room": {
+      "cls": "Wall"
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+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_outer_room": {
+      "cls": "Wall"
+    },
+    "wall_left_outer_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_back_outer_room": {
+      "cls": "Wall"
+    },
+    "wall_back_outer_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
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+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_main_group": {
+      "cls": "Counter"
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+    "counter_1_main_group": {
+      "cls": "Counter"
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+    "stove_1_main_group": {
+      "cls": "Stove"
+    },
+    "counter_2_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
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+    "stack_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_main_group_2": {
+      "cls": "Drawer"
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+    "stack_3_main_group_base": {
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+    "stack_3_main_group_1": {
+      "cls": "SingleCabinet"
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+    "stack_3_main_group_2": {
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+    "stack_4_main_group_base": {
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+    },
+    "stack_4_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_main_group_2": {
+      "cls": "SingleCabinet"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_main_group": {
+      "cls": "Microwave"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "counter_stack_main_group_base": {
+      "cls": "Box"
+    },
+    "counter_stack_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "counter_stack_main_group_2": {
+      "cls": "SingleCabinet"
+    },
+    "counter_stack_main_group_3": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_main_group": {
+      "cls": "Toaster"
+    },
+    "sink_left_group": {
+      "cls": "Sink"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "counter_left_group": {
+      "cls": "Counter"
+    },
+    "panel_cab_left_group_base": {
+      "cls": "Box"
+    },
+    "panel_cab_left_group_1": {
+      "cls": "PanelCabinet"
+    },
+    "dishwasher_left_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_left_group_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_left_group_2": {
+      "cls": "Drawer"
+    },
+    "box_left_group": {
+      "cls": "Box"
+    },
+    "coffee_machine_left_group": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_left_group": {
+      "cls": "Accessory"
+    },
+    "box_right_group": {
+      "cls": "Box"
+    },
+    "fridge_right_group": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridge_housing_right_group": {
+      "cls": "HousingCabinet"
+    },
+    "cab_1_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "dining_dining_group": {
+      "cls": "Counter"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.212310573261531,
+    -0.8151240755857018,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "rear_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000187/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000187/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..6532a2a17673218a17f955af054de8b81cdad8c2
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000187/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicTargetOnly100",
+  "source_episode_index": 18,
+  "source_demo_key": "demo_18",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicTargetOnly100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000188/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000188/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..90fb7bccd4b9da007aa9d86ad14e64961b29fd99
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000188/ep_meta.json
@@ -0,0 +1,484 @@
+{
+  "layout_id": 24,
+  "style_id": 60,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan008/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.23792933745419717,
+          -0.11925036108527483,
+          0.45664244145366994
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_outer_room": {
+      "cls": "Wall"
+    },
+    "wall_left_outer_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_inner_room": {
+      "cls": "Wall"
+    },
+    "wall_front_inner_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_outer_room": {
+      "cls": "Wall"
+    },
+    "wall_front_outer_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_6_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "stove_main_group": {
+      "cls": "Stove"
+    },
+    "counter_2_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "dishwasher_main_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_5": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_6": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_6_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_6_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_6_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_7_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_7_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_7_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_7_main_group_3": {
+      "cls": "Drawer"
+    },
+    "wall_stack_main_group_base": {
+      "cls": "Box"
+    },
+    "wall_stack_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "wall_stack_main_group_2": {
+      "cls": "HingeCabinet"
+    },
+    "hood_main_group": {
+      "cls": "Hood"
+    },
+    "cab_1_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_4_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_5_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_6_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "coffee_machine_main_group": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_main_group": {
+      "cls": "Accessory"
+    },
+    "toaster_main_group": {
+      "cls": "Toaster"
+    },
+    "toaster_oven_main_group": {
+      "cls": "ToasterOven"
+    },
+    "bottom_right_group_base": {
+      "cls": "Box"
+    },
+    "bottom_right_group_1": {
+      "cls": "Drawer"
+    },
+    "cab_1_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_right_group": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_right_group": {
+      "cls": "HousingCabinet"
+    },
+    "top_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "fridge_right_group": {
+      "cls": "FridgeSideBySide"
+    },
+    "fridge_housing_right_group": {
+      "cls": "HousingCabinet"
+    },
+    "fridge_top_cabinet_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "sink_1_island_group_1": {
+      "cls": "Sink"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "box_island_group_1": {
+      "cls": "Box"
+    },
+    "panel_box_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "panel_box_1_island_group_1_1": {
+      "cls": "PanelCabinet"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_island_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_4_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_5_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_5_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "plant_island_group_1": {
+      "cls": "Accessory"
+    },
+    "stack_1_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_2_1": {
+      "cls": "SingleCabinet"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front center burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    4.241605754605083,
+    -0.8960827103128618,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "front_center",
+    "cookware_burner": "front_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000188/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000188/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..aef93fd499655c5e8e041f33f017a470fc9b334b
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000188/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicTargetOnly100",
+  "source_episode_index": 19,
+  "source_demo_key": "demo_19",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicTargetOnly100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000189/actions.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000189/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..83eeb2c283fd6d999f328efd52dfffa2857978a4
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000189/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 24764
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000190/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000190/ep_meta.json
new file mode 100644
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@@ -0,0 +1,422 @@
+{
+  "layout_id": 26,
+  "style_id": 22,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_left"
+          ]
+        },
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+          0.02,
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+        ],
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+            -0.7853981633974483
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+          [
+            0.7853981633974483,
+            1.1780972450961724
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+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "kettle_non_electric",
+          "receptacle",
+          "kettle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "kettle_non_electric",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_28/model.xml"
+      },
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+          0.1
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+      }
+    }
+  ],
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+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
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+    "wall_right_3_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
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+    },
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+      "cls": "Wall"
+    },
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+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
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+      "cls": "WallAccessory"
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+      "cls": "WallAccessory"
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+      "cls": "WallAccessory"
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+    },
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+      "cls": "WallAccessory"
+    },
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+      "cls": "WallAccessory"
+    },
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+      "cls": "Window"
+    },
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+      "cls": "Window"
+    },
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+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
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+      "cls": "Counter"
+    },
+    "stove_main_group": {
+      "cls": "Stove"
+    },
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+      "cls": "Counter"
+    },
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+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_main_group_2": {
+      "cls": "Drawer"
+    },
+    "fridge_main_group": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridge_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "stack_4_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_3": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_main_group_4": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_main_group": {
+      "cls": "Microwave"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group": {
+      "cls": "OpenCabinet"
+    },
+    "toaster_oven_main_group": {
+      "cls": "ToasterOven"
+    },
+    "sink_1_front_group": {
+      "cls": "Sink"
+    },
+    "counter_1_front_group": {
+      "cls": "Counter"
+    },
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+      "cls": "Box"
+    },
+    "stack_1_front_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_front_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_2_front_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_front_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_front_group_2": {
+      "cls": "Drawer"
+    },
+    "cab_1_front_group": {
+      "cls": "HingeCabinet"
+    },
+    "counter_corner_right_group": {
+      "cls": "Counter"
+    },
+    "counter_1_right_group": {
+      "cls": "Counter"
+    },
+    "box_right_group": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1": {
+      "cls": "SingleCabinet"
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+    "stack_1_right_group_2": {
+      "cls": "Drawer"
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+      "cls": "SingleCabinet"
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+      "cls": "Drawer"
+    },
+    "stack_3_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_3": {
+      "cls": "Drawer"
+    },
+    "cab_1_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "coffee_machine_right_group": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_right_group": {
+      "cls": "Toaster"
+    },
+    "paper_towel_right_group": {
+      "cls": "Accessory"
+    },
+    "island_island_group": {
+      "cls": "Counter"
+    },
+    "stack_1_island_group_base": {
+      "cls": "Box"
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+      "cls": "SingleCabinet"
+    },
+    "stack_2_island_group_base": {
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+    },
+    "stack_2_island_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "box_1_island_group": {
+      "cls": "Box"
+    },
+    "box_2_island_group": {
+      "cls": "Box"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
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+        0.0,
+        1.15
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+        0.3325185477733612,
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+        -0.6175596117973328
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+        0.35,
+        1.05
+      ],
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+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
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+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
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+        -0.2993525564670563,
+        -0.55623859167099
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+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
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+        0.95
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+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.229839948120028,
+    -0.8534642662875219,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "front_left",
+    "cookware_burner": "front_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000190/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000190/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..624d9980845c70a158f680f1713ed08a0dc34524
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000190/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicTargetOnly100",
+  "source_episode_index": 21,
+  "source_demo_key": "demo_21",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicTargetOnly100",
+  "is_success": true
+}
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000191/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000191/model.xml.gz
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000192/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000192/ep_meta.json
new file mode 100644
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--- /dev/null
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+{
+  "layout_id": 11,
+  "style_id": 56,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_1_main_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
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+      "type": "object",
+      "info": {
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+          "all",
+          "kettle_non_electric",
+          "receptacle",
+          "kettle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
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+        "cat": "kettle_non_electric",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_22/model.xml"
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+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_outer_room": {
+      "cls": "Wall"
+    },
+    "wall_left_outer_backing_room": {
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+    },
+    "wall_back_outer_room": {
+      "cls": "Wall"
+    },
+    "wall_back_outer_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_main_group": {
+      "cls": "Counter"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "stove_1_main_group": {
+      "cls": "Stove"
+    },
+    "counter_2_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_main_group_2": {
+      "cls": "SingleCabinet"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_main_group": {
+      "cls": "Microwave"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "counter_stack_main_group_base": {
+      "cls": "Box"
+    },
+    "counter_stack_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "counter_stack_main_group_2": {
+      "cls": "SingleCabinet"
+    },
+    "counter_stack_main_group_3": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_main_group": {
+      "cls": "Toaster"
+    },
+    "sink_left_group": {
+      "cls": "Sink"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "counter_left_group": {
+      "cls": "Counter"
+    },
+    "panel_cab_left_group_base": {
+      "cls": "Box"
+    },
+    "panel_cab_left_group_1": {
+      "cls": "PanelCabinet"
+    },
+    "dishwasher_left_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_left_group_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_left_group_2": {
+      "cls": "Drawer"
+    },
+    "box_left_group": {
+      "cls": "Box"
+    },
+    "coffee_machine_left_group": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_left_group": {
+      "cls": "Accessory"
+    },
+    "box_right_group": {
+      "cls": "Box"
+    },
+    "fridge_right_group": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridge_housing_right_group": {
+      "cls": "HousingCabinet"
+    },
+    "cab_1_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "dining_dining_group": {
+      "cls": "Counter"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the center burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.299765034316466,
+    -0.8377414478264804,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "center",
+    "cookware_burner": "center"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000192/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000192/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cf9d4472ee2a722c0fa54b6d52d6481a6d21e14
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000192/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicTargetOnly100",
+  "source_episode_index": 23,
+  "source_demo_key": "demo_23",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicTargetOnly100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000193/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000193/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a136fd8f1aa4bcc8fe9f96b1f74ad6c4a182111d
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000193/ep_meta.json
@@ -0,0 +1,497 @@
+{
+  "layout_id": 20,
+  "style_id": 13,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_center"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "kettle_non_electric",
+          "receptacle",
+          "kettle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "kettle_non_electric",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_14/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.005538808426559425,
+          0.21465705026513981,
+          0.4565523102675695
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_center"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "counter_corner_main_group": {
+      "cls": "Counter"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "stove_main_group": {
+      "cls": "Stove"
+    },
+    "counter_2_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_main_group": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_6_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_6_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "microwave_main_group": {
+      "cls": "Microwave"
+    },
+    "cab_4_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_5_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_6_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "coffee_machine_main_group": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_main_group": {
+      "cls": "Accessory"
+    },
+    "counter_corner_1_left_group": {
+      "cls": "Counter"
+    },
+    "sink_1_left_group": {
+      "cls": "Sink"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "box_1_left_group": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_1_left_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_2_left_group": {
+      "cls": "Box"
+    },
+    "cab_1_left_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_left_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_corner_left_group": {
+      "cls": "Box"
+    },
+    "knife_block_left_group": {
+      "cls": "Accessory"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "panel_stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "panel_stack_1_island_group_1_1": {
+      "cls": "PanelCabinet"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "panel_stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "panel_stack_2_island_group_1_1": {
+      "cls": "PanelCabinet"
+    },
+    "plant_island_group_1": {
+      "cls": "Accessory"
+    },
+    "counter_1_island_group_2": {
+      "cls": "Counter"
+    },
+    "panel_stack_1_island_group_2_base": {
+      "cls": "Box"
+    },
+    "panel_stack_1_island_group_2_1": {
+      "cls": "PanelCabinet"
+    },
+    "stack_1_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_2_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_2_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_2_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_2_2": {
+      "cls": "Drawer"
+    },
+    "panel_stack_2_island_group_2_base": {
+      "cls": "Box"
+    },
+    "panel_stack_2_island_group_2_1": {
+      "cls": "PanelCabinet"
+    },
+    "counter_1_front_group_1": {
+      "cls": "Counter"
+    },
+    "fridge_1_front_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridge_1_housing_front_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "stack_1_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "box_front_group_1": {
+      "cls": "Box"
+    },
+    "cab_1_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_front_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "cab_3_front_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "toaster_front_group_1": {
+      "cls": "Toaster"
+    },
+    "counter_1_front_group_2": {
+      "cls": "Counter"
+    },
+    "stack_1_front_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_front_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_2_front_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_front_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_3_front_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "cab_1_front_group_2": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_front_group_2": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_front_group_2": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_oven_front_group_2": {
+      "cls": "ToasterOven"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear center burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.4370964626175238,
+    -0.8693951149037822,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "rear_center",
+    "cookware_burner": "rear_center"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000193/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000193/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f2f82c4524db8e4b96541b1b8f2cfd8c07cf601
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000193/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicTargetOnly100",
+  "source_episode_index": 24,
+  "source_demo_key": "demo_24",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicTargetOnly100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000194/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000194/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a163f17036bab487cbebdd4cd1442e116a6e31f4
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000194/ep_meta.json
@@ -0,0 +1,397 @@
+{
+  "layout_id": 11,
+  "style_id": 32,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_1_main_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan007/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.19429186732020443,
+          0.17967370885342657,
+          0.45384265819829256
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_outer_room": {
+      "cls": "Wall"
+    },
+    "wall_left_outer_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_back_outer_room": {
+      "cls": "Wall"
+    },
+    "wall_back_outer_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_main_group": {
+      "cls": "Counter"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "stove_1_main_group": {
+      "cls": "Stove"
+    },
+    "counter_2_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_main_group_2": {
+      "cls": "SingleCabinet"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_main_group": {
+      "cls": "Microwave"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "counter_stack_main_group_base": {
+      "cls": "Box"
+    },
+    "counter_stack_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "counter_stack_main_group_2": {
+      "cls": "SingleCabinet"
+    },
+    "counter_stack_main_group_3": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_main_group": {
+      "cls": "Toaster"
+    },
+    "sink_left_group": {
+      "cls": "Sink"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "counter_left_group": {
+      "cls": "Counter"
+    },
+    "panel_cab_left_group_base": {
+      "cls": "Box"
+    },
+    "panel_cab_left_group_1": {
+      "cls": "PanelCabinet"
+    },
+    "dishwasher_left_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_left_group_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_left_group_2": {
+      "cls": "Drawer"
+    },
+    "box_left_group": {
+      "cls": "Box"
+    },
+    "coffee_machine_left_group": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_left_group": {
+      "cls": "Accessory"
+    },
+    "box_right_group": {
+      "cls": "Box"
+    },
+    "fridge_right_group": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridge_housing_right_group": {
+      "cls": "HousingCabinet"
+    },
+    "cab_1_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "dining_dining_group": {
+      "cls": "Counter"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.069426148902293,
+    -0.8554788876138538,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "rear_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000194/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000194/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fcf56ca9b8a8afccb758afe5add30134a9c0afa
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000194/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicTargetOnly100",
+  "source_episode_index": 25,
+  "source_demo_key": "demo_25",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicTargetOnly100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000196/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000196/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1b34d5725324aaef4efd2bc14ab029472907c58
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000196/ep_meta.json
@@ -0,0 +1,485 @@
+{
+  "layout_id": 22,
+  "style_id": 41,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stovetop_dining_area_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pot",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pot",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot060/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.16758532799318368,
+          -0.06546508593537394,
+          0.010447450100023575
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_4_room": {
+      "cls": "Wall"
+    },
+    "wall_right_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_4_room": {
+      "cls": "Wall"
+    },
+    "wall_main_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_3_room": {
+      "cls": "Floor"
+    },
+    "floor_3_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_4_room": {
+      "cls": "Floor"
+    },
+    "floor_4_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_4_room": {
+      "cls": "Stool"
+    },
+    "stool_5_room": {
+      "cls": "Stool"
+    },
+    "stool_6_room": {
+      "cls": "Stool"
+    },
+    "sink_1_left_group": {
+      "cls": "Sink"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_left_group_2": {
+      "cls": "Drawer"
+    },
+    "oven_left_group": {
+      "cls": "Oven"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_left_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_4_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_left_group_2": {
+      "cls": "Drawer"
+    },
+    "cab_1_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_left_group": {
+      "cls": "Toaster"
+    },
+    "coffee_machine_left_group": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_left_group": {
+      "cls": "Accessory"
+    },
+    "knife_block_left_group": {
+      "cls": "Accessory"
+    },
+    "fridge_main_group": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridge_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_3": {
+      "cls": "Drawer"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_oven_main_group": {
+      "cls": "ToasterOven"
+    },
+    "stovetop_dining_area_group_1": {
+      "cls": "Stovetop"
+    },
+    "dining_dining_area_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_dining_area_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_dining_area_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_dining_area_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_dining_area_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_dining_area_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_dining_area_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_dining_area_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_dining_area_group_1_2": {
+      "cls": "Drawer"
+    },
+    "dining_dining_area_group_2": {
+      "cls": "Counter"
+    },
+    "stack_1_dining_area_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_1_dining_area_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_dining_area_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_dining_area_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_2_dining_area_group_2_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_dining_area_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_dining_area_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_3_dining_area_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_dining_area_group_2_2": {
+      "cls": "Drawer"
+    },
+    "bottom_front_group_base": {
+      "cls": "Box"
+    },
+    "bottom_front_group_1": {
+      "cls": "Drawer"
+    },
+    "middle_front_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_front_group": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_front_group": {
+      "cls": "HousingCabinet"
+    },
+    "top_front_group": {
+      "cls": "HingeCabinet"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.1955349577036896,
+    -2.422460170768862,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    -1.57079623937212
+  ],
+  "task_refs": {
+    "knob": "front_right",
+    "cookware_burner": "front_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000196/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000196/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..81701915d9525854c632e397354636355d4ebf24
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000196/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicTargetOnly100",
+  "source_episode_index": 27,
+  "source_demo_key": "demo_27",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicTargetOnly100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000197/actions.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000197/actions.npz
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--- /dev/null
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@@ -0,0 +1,3 @@
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new file mode 100644
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@@ -0,0 +1,3 @@
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new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000202/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000202/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3137a8d8306e487b61b387787682c948566796b6
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000202/ep_meta.json
@@ -0,0 +1,401 @@
+{
+  "layout_id": 60,
+  "style_id": 16,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pot",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pot",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.15800929449164697,
+          0.14276134893581532,
+          0.4390424604150111
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_01_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_01_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_04_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_12_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_06_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_07_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_08_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_09_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_10_room": {
+      "cls": "WallAccessory"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_11_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_3_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "micro_cab_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_01_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_02_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_3_main_group_1": {
+      "cls": "Box"
+    },
+    "singlecabinet_01_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_6_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_6_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_6_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_6_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_5_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_11_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_12_main_group_1": {
+      "cls": "Box"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "plant_main_group_1": {
+      "cls": "Accessory"
+    },
+    "fridgebottomfreezer_right_group_1": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridgebottomfreezer_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_05_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "counter_6_right_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_04_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_06_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_7_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_7_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_7_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_8_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_8_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_13_right_group_1": {
+      "cls": "Box"
+    },
+    "toaster_oven_right_group_1": {
+      "cls": "ToasterOven"
+    },
+    "sink_left_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "counter_5_left_group_1": {
+      "cls": "Counter"
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+    "cube_1_left_group_1": {
+      "cls": "Box"
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+    "stack_1_left_group_1_base": {
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+    "stack_1_left_group_1_2": {
+      "cls": "Drawer"
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+    "stack_4_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_left_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_3_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_4_left_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_left_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_left_group_1": {
+      "cls": "Dishwasher"
+    },
+    "toaster_left_group_1": {
+      "cls": "Toaster"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
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+        -0.6,
+        0.0,
+        1.15
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+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
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+      "parent_body": "mobilebase0_support"
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+    "robot0_agentview_left": {
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+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
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+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
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+        1.05
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+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
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+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
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+        0.95
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+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.0776955844481675,
+    -0.8466252386186064,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "rear_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000202/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000202/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbe16511074117bbf708aef974f2b9af7bfa6846
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000202/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain10",
+  "source_episode_index": 3,
+  "source_demo_key": "demo_3",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain10",
+  "is_success": false
+}
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new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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+size 42392
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000203/rewards_dense.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000203/rewards_dense.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000203/states.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000203/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ca11c68b473af934bcdd59e535cef2486487f3be
--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000204/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000204/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ba46e7bf5c584cf2da5dffc8e6d8f3585cda185
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000204/ep_meta.json
@@ -0,0 +1,344 @@
+{
+  "layout_id": 52,
+  "style_id": 25,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_right"
+          ]
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+          "pan",
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+          "cookware",
+          "pots_and_pans"
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+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_24/model.xml"
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+    "wall_main_1_backing_room": {
+      "cls": "Wall"
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+    "wall_right_1_room": {
+      "cls": "Wall"
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+      "cls": "Wall"
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+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
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+    "wall_front_1.001_room": {
+      "cls": "Wall"
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+    "wall_front_1.001_backing_room": {
+      "cls": "Wall"
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+    "wall_front_2.002_room": {
+      "cls": "Wall"
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+    "floor_1_backing_room": {
+      "cls": "Floor"
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+    },
+    "wallaccessory_3_room": {
+      "cls": "WallAccessory"
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+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
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+    "singlecabinet_2_main_group_1": {
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+    "counter_3_main_group_1": {
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+    "stove_main_group_1": {
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+    },
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+      "cls": "Box"
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+      "cls": "SingleCabinet"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "hingecabinet_3_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_4_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_5_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "sink_right_group_1": {
+      "cls": "Sink"
+    },
+    "counter_4_right_group_1": {
+      "cls": "Counter"
+    },
+    "cube_1_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "dishwasher_1_right_group_1": {
+      "cls": "Dishwasher"
+    },
+    "cube_2_right_group_1": {
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+    },
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+      "cls": "Drawer"
+    },
+    "stack_01_right_group_1_3": {
+      "cls": "Drawer"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
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+    "counter_1_left_group_1": {
+      "cls": "Counter"
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+      "cls": "Box"
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+      "cls": "Drawer"
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+    "stack_05_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_05_left_group_1_3": {
+      "cls": "Drawer"
+    },
+    "cube_1_left_group_1": {
+      "cls": "Box"
+    },
+    "fridgebottomfreezer_left_group_1": {
+      "cls": "FridgeBottomFreezer"
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+    "fridgebottomfreezer_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_5_left_group_1": {
+      "cls": "HingeCabinet"
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+    "singlecabinet_1_left_group_1": {
+      "cls": "SingleCabinet"
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+    "microwave_left_group_1": {
+      "cls": "Microwave"
+    },
+    "cab_micro_left_group_1": {
+      "cls": "HingeCabinet"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
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+        "fovy": "60"
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+      "parent_body": "mobilebase0_support"
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+    "robot0_agentview_right": {
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+      "camera_attribs": {
+        "fovy": "60"
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+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
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+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
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+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    1.7930305860138442,
+    -0.907666753549497,
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+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
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+  ],
+  "task_refs": {
+    "knob": "front_left",
+    "cookware_burner": "front_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000204/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000204/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..b873e0674bc9173869a2f11fae98fb11c703be6b
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000204/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain10",
+  "source_episode_index": 5,
+  "source_demo_key": "demo_5",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain10",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000205/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000205/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d97726bcceb50a53ce6db9e6b4f3fc3659034d40
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000205/ep_meta.json
@@ -0,0 +1,428 @@
+{
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+  "style_id": 59,
+  "object_cfgs": [
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+      "obj_groups": "cookware",
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+        "fixture": "stove_right_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
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+          "cookware",
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+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot060/model.xml"
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+    "wall_right_1_backing_room": {
+      "cls": "Wall"
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+    "wall_left_1_backing_room": {
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+    "wall_main_2_backing_room": {
+      "cls": "Wall"
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+      "cls": "Wall"
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+    "wall_left_2_backing_room": {
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+    "wall_main_3_backing_room": {
+      "cls": "Wall"
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+    "wall_main_3.001_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3.001_backing_room": {
+      "cls": "Wall"
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+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
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+    "floor_1_room": {
+      "cls": "Floor"
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+    "floor_1_backing_room": {
+      "cls": "Floor"
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+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
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+    "window_group_2_room": {
+      "cls": "Window"
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+    "window_group_3_room": {
+      "cls": "Window"
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+    "sink_main_group_1": {
+      "cls": "Sink"
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+    "counter_1_main_group_1": {
+      "cls": "Counter"
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+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
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+    "stack_02_main_group_1_base": {
+      "cls": "Box"
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+    "stack_02_main_group_1_1": {
+      "cls": "HingeCabinet"
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+    "stack_02_main_group_1_2": {
+      "cls": "PanelCabinet"
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+    "stack_01_main_group_1_base": {
+      "cls": "Box"
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+    "stack_01_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_01_main_group_1_2": {
+      "cls": "Drawer"
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+    "stack_03_main_group_1_base": {
+      "cls": "Box"
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+    "stack_03_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_03_main_group_1_2": {
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+    "cube_09_main_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "cube_01_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_10_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_10_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_10_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_07_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_08_island_group_1": {
+      "cls": "Box"
+    },
+    "plant_island_group_1": {
+      "cls": "Accessory"
+    },
+    "hingecabinet_5_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "counter_2_left_group_1": {
+      "cls": "Counter"
+    },
+    "stack_13_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_13_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_13_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_12_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_12_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_12_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "fridgefrenchdoor_left_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "bottom_left_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "microwave_left_group_1": {
+      "cls": "Microwave"
+    },
+    "oven_cabinet_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_4_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_oven_left_group_1": {
+      "cls": "ToasterOven"
+    },
+    "hingecabinet_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_1_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "counter_4_right_group_1": {
+      "cls": "Counter"
+    },
+    "counter_3_right_group_1": {
+      "cls": "Counter"
+    },
+    "stove_right_group_1": {
+      "cls": "Stove"
+    },
+    "stove_hood_right_group_1": {
+      "cls": "Hood"
+    },
+    "stack_06_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_06_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_06_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_04_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_04_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_05_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_05_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_05_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_05_right_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_07_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_07_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_07_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_02_right_group_1": {
+      "cls": "Box"
+    },
+    "cube_11_right_group_1": {
+      "cls": "Box"
+    },
+    "coffee_machine_right_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    5.461265714115042,
+    -2.285507467296746,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    -0.0001619848215634878
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "rear_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000205/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000205/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..df697956bd9a43475af8744747fcbec6bf3c959d
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000205/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain10",
+  "source_episode_index": 6,
+  "source_demo_key": "demo_6",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain10",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000206/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000206/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4766790bb8a5d1f2fd8c86e2e6e3d33ab02ba477
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000206/ep_meta.json
@@ -0,0 +1,353 @@
+{
+  "layout_id": 55,
+  "style_id": 18,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pot",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pot",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot064/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.1763172679128117,
+          0.1573408155818936,
+          0.4799969710344246
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_01_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_02_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "fridgebottomfreezer_main_group_1": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridgebottomfreezer_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "singlecabinet_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_4_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "sink_main_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "micro_cab_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_04_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_04_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_02_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_02_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_02_main_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "stack_05_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_05_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_05_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_01_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_01_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_01_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_14_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_13_main_group_1": {
+      "cls": "Box"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_06_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_06_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_06_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_07_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_07_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_07_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_7_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_8_island_group_1": {
+      "cls": "Box"
+    },
+    "paper_towel_island_group_1": {
+      "cls": "Accessory"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.2275005853048837,
+    -0.9553433529594891,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5706379572530664
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "rear_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000206/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000206/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..5813eec4c75207949a9ca6ceca4529888f8d08a0
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000206/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain10",
+  "source_episode_index": 7,
+  "source_demo_key": "demo_7",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain10",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000207/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000207/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df000f7a38feec9f14fc96e59db8eef132b86b4b
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000207/ep_meta.json
@@ -0,0 +1,479 @@
+{
+  "layout_id": 49,
+  "style_id": 12,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_11/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.18988406409958983,
+          0.1853399893304247,
+          0.45384259347784334
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_4_room": {
+      "cls": "Wall"
+    },
+    "wall_left_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_4_room": {
+      "cls": "Wall"
+    },
+    "wall_main_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_7_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_6_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_11_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "stool_4_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "hingecabinet_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_4_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_13_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "micro_cab_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_01_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_01_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_01_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_02_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_02_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_02_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_04_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_main_group_1": {
+      "cls": "Box"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_oven_main_group_1": {
+      "cls": "ToasterOven"
+    },
+    "sink_right_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "stack_05_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_05_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_2_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_07_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_07_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_07_right_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "cube_1_right_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_right_group_1": {
+      "cls": "Dishwasher"
+    },
+    "fridgefrenchdoor_left_group_2": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_left_group_2": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_1_left_group_2": {
+      "cls": "HingeCabinet"
+    },
+    "counter_3_front_group_1": {
+      "cls": "Counter"
+    },
+    "counter_5_front_group_1": {
+      "cls": "Counter"
+    },
+    "stack_12_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_12_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_12_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_13_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_13_front_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_13_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_13_front_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_14_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_14_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_14_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_15_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_15_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_15_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_11_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_11_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_11_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_4_front_group_1": {
+      "cls": "Box"
+    },
+    "cube_11_front_group_1": {
+      "cls": "Box"
+    },
+    "cube_5_front_group_1": {
+      "cls": "Box"
+    },
+    "dining_dining_area_group": {
+      "cls": "Counter"
+    },
+    "stack_10_dining_area_group_base": {
+      "cls": "Box"
+    },
+    "stack_10_dining_area_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_10_dining_area_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_09_dining_area_group_base": {
+      "cls": "Box"
+    },
+    "stack_09_dining_area_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_09_dining_area_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_08_dining_area_group_base": {
+      "cls": "Box"
+    },
+    "stack_08_dining_area_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_08_dining_area_group_2": {
+      "cls": "Drawer"
+    },
+    "cube_2_dining_area_group": {
+      "cls": "Box"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.6229090282600303,
+    -1.1904538933916242,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5706449309965886
+  ],
+  "task_refs": {
+    "knob": "front_left",
+    "cookware_burner": "rear_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000207/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000207/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f2be2a624d7761cee44d53091ffe7fa0681b5b0
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000207/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain10",
+  "source_episode_index": 8,
+  "source_demo_key": "demo_8",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain10",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000208/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000208/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eaf367fedffdd80a1b1a486a29a565d7b17aa035
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000208/ep_meta.json
@@ -0,0 +1,400 @@
+{
+  "layout_id": 60,
+  "style_id": 33,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan006/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.16700418244418636,
+          0.16156454641941922,
+          0.4619347540804282
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_01_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_01_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_04_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_12_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_06_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_07_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_08_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_09_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_10_room": {
+      "cls": "WallAccessory"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_11_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_3_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "micro_cab_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_01_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_02_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_3_main_group_1": {
+      "cls": "Box"
+    },
+    "singlecabinet_01_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_6_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_6_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_6_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_6_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_5_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_11_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_12_main_group_1": {
+      "cls": "Box"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "plant_main_group_1": {
+      "cls": "Accessory"
+    },
+    "fridgebottomfreezer_right_group_1": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridgebottomfreezer_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_05_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "counter_6_right_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_04_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_06_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_7_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_7_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_7_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_8_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_8_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_13_right_group_1": {
+      "cls": "Box"
+    },
+    "toaster_oven_right_group_1": {
+      "cls": "ToasterOven"
+    },
+    "sink_left_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "counter_5_left_group_1": {
+      "cls": "Counter"
+    },
+    "cube_1_left_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_left_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_3_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_4_left_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_left_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_left_group_1": {
+      "cls": "Dishwasher"
+    },
+    "toaster_left_group_1": {
+      "cls": "Toaster"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.177002001135852,
+    -0.871684842053919,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "front_left",
+    "cookware_burner": "rear_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000208/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000208/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0f087d941aad7266acf45edfe43ae1e147795cf
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000208/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain10",
+  "source_episode_index": 9,
+  "source_demo_key": "demo_9",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain10",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000209/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000209/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6d8ae58404702a1b1362357886fd38b3b7da93e
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000209/ep_meta.json
@@ -0,0 +1,425 @@
+{
+  "layout_id": 27,
+  "style_id": 55,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_front_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pot",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pot",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot064/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.14622969063819963,
+          0.18435478552930595,
+          0.46313426675014535
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "window_group_3_room": {
+      "cls": "Window"
+    },
+    "window_group_4_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_main_group": {
+      "cls": "Counter"
+    },
+    "sink_1_main_group": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "box_main_group": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_main_group_2": {
+      "cls": "SingleCabinet"
+    },
+    "bottom_main_group_base": {
+      "cls": "Box"
+    },
+    "bottom_main_group_1": {
+      "cls": "Drawer"
+    },
+    "middle_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_main_group": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "top_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "toaster_main_group": {
+      "cls": "Toaster"
+    },
+    "paper_towel_main_group": {
+      "cls": "Accessory"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_3": {
+      "cls": "Drawer"
+    },
+    "dishwasher_left_group": {
+      "cls": "Dishwasher"
+    },
+    "box_left_group": {
+      "cls": "Box"
+    },
+    "fridge_left_group": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridge_housing_left_group": {
+      "cls": "HousingCabinet"
+    },
+    "fridge_top_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "coffee_machine_left_group": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_oven_left_group": {
+      "cls": "ToasterOven"
+    },
+    "counter_1_front_group": {
+      "cls": "Counter"
+    },
+    "stove_front_group": {
+      "cls": "Stove"
+    },
+    "counter_2_front_group": {
+      "cls": "Counter"
+    },
+    "counter_3_front_group": {
+      "cls": "Counter"
+    },
+    "counter_4_front_group": {
+      "cls": "Counter"
+    },
+    "counter_5_front_group": {
+      "cls": "Counter"
+    },
+    "stack_1_front_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_front_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_front_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_front_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_front_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_front_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_front_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_front_group_2": {
+      "cls": "Drawer"
+    },
+    "box_1_front_group": {
+      "cls": "Box"
+    },
+    "box_2_front_group": {
+      "cls": "Box"
+    },
+    "box_3_front_group": {
+      "cls": "Box"
+    },
+    "hood_front_group": {
+      "cls": "Hood"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.2041468853009625,
+    -1.959189649253929,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    -1.57079623937212
+  ],
+  "task_refs": {
+    "knob": "front_right",
+    "cookware_burner": "rear_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000209/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000209/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e264b384e25e59036aef2c007b0127dffa20ff6
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000209/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain10",
+  "source_episode_index": 10,
+  "source_demo_key": "demo_10",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain10",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000211/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000211/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3f437a56af388ea859b401a874670adfe45047d
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000211/ep_meta.json
@@ -0,0 +1,344 @@
+{
+  "layout_id": 34,
+  "style_id": 47,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stovetop_left_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.26257306910754263,
+          0.14081871516576236,
+          -0.0033303811972656633
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_4_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stovetop_left_group_1": {
+      "cls": "Stovetop"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_4_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "bottom_left_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "oven_left_group_1": {
+      "cls": "Oven"
+    },
+    "microwave_left_group_1": {
+      "cls": "Microwave"
+    },
+    "fridgefrenchdoor_left_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "oven_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_1_3": {
+      "cls": "PanelCabinet"
+    },
+    "stack_2_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "coffee_machine_left_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_left_group_1": {
+      "cls": "Toaster"
+    },
+    "toaster_oven_left_group_1": {
+      "cls": "ToasterOven"
+    },
+    "sink_island_group_1": {
+      "cls": "Sink"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_3_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_4_island_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_island_group_1": {
+      "cls": "Dishwasher"
+    },
+    "paper_towel_island_group_1": {
+      "cls": "Accessory"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    0.7734006791115144,
+    -2.2530075610579408,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.1412906566438026
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "rear_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000211/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000211/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..52415d1c8d59c87936dcb38d0a1f9a12f9942e8c
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000211/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain10",
+  "source_episode_index": 12,
+  "source_demo_key": "demo_12",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain10",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000212/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000212/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b1aba49b862d8390fb352cbc52365d9eff98574
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000212/ep_meta.json
@@ -0,0 +1,464 @@
+{
+  "layout_id": 56,
+  "style_id": 20,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_center"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pot",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pot",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot060/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.0003350334957762154,
+          -0.11653565635034789,
+          0.44016840716083067
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_center"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_02_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_03_room": {
+      "cls": "WallAccessory"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stack_13_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_13_island_group_2_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_04_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_04_island_group_2_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_12_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_12_island_group_2_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "hingecabinet_5_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_4_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "opencabinet_2_main_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "opencabinet_3_main_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_3_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "stove_hood_main_group_1": {
+      "cls": "Hood"
+    },
+    "cube_4_main_group_1": {
+      "cls": "Box"
+    },
+    "stack_11_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_11_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_03_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_02_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_02_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_04_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_04_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_04_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_08_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_08_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_08_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_06_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_06_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_07_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_07_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_07_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_07_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "cube_8_main_group_1": {
+      "cls": "Box"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "plant_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_oven_main_group_1": {
+      "cls": "ToasterOven"
+    },
+    "singlecabinet_1_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "hingecabinet_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_9_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "counter_8_right_group_1": {
+      "cls": "Counter"
+    },
+    "stack_6_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_6_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_6_right_group_1_2": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_11_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_7_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_7_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_7_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_12_right_group_1": {
+      "cls": "Box"
+    },
+    "fridgefrenchdoor_right_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "bottom_right_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "oven_cabinet_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_right_group_1": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "sink_island_group_1": {
+      "cls": "Sink"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_11_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_11_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_11_island_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_09_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_09_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_09_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_09_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_10_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_10_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_10_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "dishwasher_1_island_group_1": {
+      "cls": "Dishwasher"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.931939681569726,
+    -0.8951594649195503,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.57064844767067
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "front_center"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000212/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000212/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..e459b852f34a6da178e2bff48f3035f65f111815
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000212/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain10",
+  "source_episode_index": 13,
+  "source_demo_key": "demo_13",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain10",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000213/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000213/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..53a75c16306c9360f475180dfffcf1e85bb0d8c2
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000213/ep_meta.json
@@ -0,0 +1,566 @@
+{
+  "layout_id": 39,
+  "style_id": 57,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stovetop_island_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "kettle_non_electric",
+          "receptacle",
+          "kettle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "kettle_non_electric",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_18/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.26269995242426386,
+          0.14062405596327,
+          -0.003325541657284443
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_5_room": {
+      "cls": "Wall"
+    },
+    "wall_front_5_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_5_room": {
+      "cls": "Wall"
+    },
+    "wall_right_5_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_4_room": {
+      "cls": "Wall"
+    },
+    "wall_front_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_4_room": {
+      "cls": "Wall"
+    },
+    "wall_right_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_6_room": {
+      "cls": "Wall"
+    },
+    "wall_front_6_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_7_room": {
+      "cls": "Wall"
+    },
+    "wall_front_7_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_room": {
+      "cls": "Wall"
+    },
+    "wall_left_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_3_room": {
+      "cls": "Floor"
+    },
+    "floor_3_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_6.001_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "sink_main_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "fridgefrenchdoor_main_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_5_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_4_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_3_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_1_main_group_1": {
+      "cls": "Box"
+    },
+    "stack_5_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_5_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_6_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_6_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_6_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_7_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_7_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_7_main_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "knifeblock_main_group_1": {
+      "cls": "Accessory"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "stovetop_island_group_1": {
+      "cls": "Stovetop"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_island_group_2.001_base": {
+      "cls": "Box"
+    },
+    "stack_5_island_group_2.001_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_island_group_2.001_2": {
+      "cls": "Drawer"
+    },
+    "stack_6_island_group_2.001_base": {
+      "cls": "Box"
+    },
+    "stack_6_island_group_2.001_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_6_island_group_2.001_2": {
+      "cls": "Drawer"
+    },
+    "stack_7_island_group_2.001_base": {
+      "cls": "Box"
+    },
+    "stack_7_island_group_2.001_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_7_island_group_2.001_2": {
+      "cls": "Drawer"
+    },
+    "stack_8_island_group_2.001_base": {
+      "cls": "Box"
+    },
+    "stack_8_island_group_2.001_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_8_island_group_2.001_2": {
+      "cls": "Drawer"
+    },
+    "counter_1_front_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_2_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_1_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_5_front_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_5_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_front_group_1_3": {
+      "cls": "Drawer"
+    },
+    "bottom_front_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_front_group_1_1": {
+      "cls": "Drawer"
+    },
+    "oven_front_group_1": {
+      "cls": "Oven"
+    },
+    "oven_housing_front_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "microwave_front_group_1": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_front_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "coffeemachine_front_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_oven_front_group_1": {
+      "cls": "ToasterOven"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.6512736146887823,
+    -3.6487995912206115,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "rear_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000213/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000213/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6fc6de9bbb2281e16040c9471c0da5a96cce48a
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000213/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain10",
+  "source_episode_index": 14,
+  "source_demo_key": "demo_14",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain10",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000214/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000214/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..48d235d66361a18f1aa1f7428f5cd0fa682312d4
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000214/ep_meta.json
@@ -0,0 +1,413 @@
+{
+  "layout_id": 48,
+  "style_id": 12,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "widestove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_center"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.0003350334957762154,
+          -0.11653565635034789,
+          0.44016840716083067
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_center"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_room": {
+      "cls": "Wall"
+    },
+    "wall_left_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "lightswitch_5_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_6_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_2_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_3_room": {
+      "cls": "WallAccessory"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_4_room": {
+      "cls": "Stool"
+    },
+    "fridgefrenchdoor_right_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "bottom_right_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "microwave_right_group_1": {
+      "cls": "Microwave"
+    },
+    "oven_cabinet_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_5_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_4_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "opencabinet_right_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "sink_right_group_1": {
+      "cls": "Sink"
+    },
+    "counter_3_right_group_1": {
+      "cls": "Counter"
+    },
+    "stack_04_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_04_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_06_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_06_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_06_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_06_right_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_03_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_03_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_05_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_05_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_05_right_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "cube_2_right_group_1": {
+      "cls": "Box"
+    },
+    "cube_1_right_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_right_group_1": {
+      "cls": "Dishwasher"
+    },
+    "coffee_machine_right_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "widestove_main_group_1": {
+      "cls": "Stove"
+    },
+    "stove_hood_main_group_1": {
+      "cls": "Hood"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "stack_02_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_02_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_01_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_01_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_4_main_group_1": {
+      "cls": "Box"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_oven_main_group_1": {
+      "cls": "ToasterOven"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_3_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_09_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_09_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_09_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_09_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_08_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_08_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_08_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_08_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_07_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_07_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_07_island_group_1_2": {
+      "cls": "HingeCabinet"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front center burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.955821457506828,
+    -1.0503944317205074,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5706378976484208
+  ],
+  "task_refs": {
+    "knob": "front_center",
+    "cookware_burner": "front_center"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000214/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000214/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..157b54b9d0756d4cf1404704a26d887b99e61972
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000214/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain10",
+  "source_episode_index": 15,
+  "source_demo_key": "demo_15",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain10",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000215/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000215/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee6b3dab88e35815326ff56229c3775f065ea5f0
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000215/ep_meta.json
@@ -0,0 +1,400 @@
+{
+  "layout_id": 30,
+  "style_id": 44,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_left_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan002/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.17202120747611915,
+          -0.09538413197584153,
+          0.45199089660907493
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "ligh_switch_2_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_3_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "window_group_3_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "stove_left_group": {
+      "cls": "Stove"
+    },
+    "counter_2_left_group": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_3": {
+      "cls": "Drawer"
+    },
+    "fridge_left_group": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridge_housing_left_group": {
+      "cls": "HousingCabinet"
+    },
+    "cab_1_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_left_group": {
+      "cls": "Microwave"
+    },
+    "cab_3_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_4_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_5_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_6_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_oven_left_group": {
+      "cls": "ToasterOven"
+    },
+    "coffee_machine_left_group": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_left_group": {
+      "cls": "Accessory"
+    },
+    "sink_right_group": {
+      "cls": "Sink"
+    },
+    "counter_1_right_group": {
+      "cls": "Counter"
+    },
+    "stack_1_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "dishwasher_right_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_2_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_right_group": {
+      "cls": "Box"
+    },
+    "cab_1_right_group": {
+      "cls": "OpenCabinet"
+    },
+    "cab_2_right_group": {
+      "cls": "OpenCabinet"
+    },
+    "toaster_right_group": {
+      "cls": "Toaster"
+    },
+    "dining_front_group": {
+      "cls": "Counter"
+    },
+    "box_front_group": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_front_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_front_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_front_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_front_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_front_group_4": {
+      "cls": "Drawer"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    0.8817246174121863,
+    -2.495764880648429,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.1415926193612504
+  ],
+  "task_refs": {
+    "knob": "front_right",
+    "cookware_burner": "front_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000215/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000215/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c190ac1cdd1132f929cc8465ca2f9ebae0a1644
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000215/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain10",
+  "source_episode_index": 16,
+  "source_demo_key": "demo_16",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain10",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000216/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000216/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..78f5abd66b28029c704c30237a2d60ba0e3e4946
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000216/ep_meta.json
@@ -0,0 +1,485 @@
+{
+  "layout_id": 22,
+  "style_id": 26,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stovetop_dining_area_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_11/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.25444405795717506,
+          0.13746568195098444,
+          -0.007280309186499837
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_4_room": {
+      "cls": "Wall"
+    },
+    "wall_right_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_4_room": {
+      "cls": "Wall"
+    },
+    "wall_main_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_3_room": {
+      "cls": "Floor"
+    },
+    "floor_3_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_4_room": {
+      "cls": "Floor"
+    },
+    "floor_4_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_4_room": {
+      "cls": "Stool"
+    },
+    "stool_5_room": {
+      "cls": "Stool"
+    },
+    "stool_6_room": {
+      "cls": "Stool"
+    },
+    "sink_1_left_group": {
+      "cls": "Sink"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_left_group_2": {
+      "cls": "Drawer"
+    },
+    "oven_left_group": {
+      "cls": "Oven"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_left_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_4_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_left_group_2": {
+      "cls": "Drawer"
+    },
+    "cab_1_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_left_group": {
+      "cls": "Toaster"
+    },
+    "coffee_machine_left_group": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_left_group": {
+      "cls": "Accessory"
+    },
+    "knife_block_left_group": {
+      "cls": "Accessory"
+    },
+    "fridge_main_group": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridge_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_3": {
+      "cls": "Drawer"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_oven_main_group": {
+      "cls": "ToasterOven"
+    },
+    "stovetop_dining_area_group_1": {
+      "cls": "Stovetop"
+    },
+    "dining_dining_area_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_dining_area_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_dining_area_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_dining_area_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_dining_area_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_dining_area_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_dining_area_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_dining_area_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_dining_area_group_1_2": {
+      "cls": "Drawer"
+    },
+    "dining_dining_area_group_2": {
+      "cls": "Counter"
+    },
+    "stack_1_dining_area_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_1_dining_area_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_dining_area_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_dining_area_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_2_dining_area_group_2_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_dining_area_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_dining_area_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_3_dining_area_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_dining_area_group_2_2": {
+      "cls": "Drawer"
+    },
+    "bottom_front_group_base": {
+      "cls": "Box"
+    },
+    "bottom_front_group_1": {
+      "cls": "Drawer"
+    },
+    "middle_front_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_front_group": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_front_group": {
+      "cls": "HousingCabinet"
+    },
+    "top_front_group": {
+      "cls": "HingeCabinet"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.003997660640747,
+    -2.3981743169749725,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    -1.57079623937212
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "rear_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000216/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000216/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..842d688c6a59a1bf7b9713b84dd57701b9179897
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000216/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain10",
+  "source_episode_index": 17,
+  "source_demo_key": "demo_17",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain10",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000217/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000217/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a4d474b224ade8e94a42db8279045e4cefd5263
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000217/ep_meta.json
@@ -0,0 +1,431 @@
+{
+  "layout_id": 33,
+  "style_id": 14,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "widestove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_center"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "kettle_non_electric",
+          "receptacle",
+          "kettle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "kettle_non_electric",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle005/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.005538808426559425,
+          0.21465705026513981,
+          0.4565523102675695
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_center"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3.001_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3.001_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2.001_room": {
+      "cls": "Floor"
+    },
+    "floor_2.001_backing_room": {
+      "cls": "Floor"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_4_room": {
+      "cls": "Stool"
+    },
+    "counter_2_right_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "fridgefrenchdoor_right_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_4_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "bottom_right_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "microwave_right_group_1": {
+      "cls": "Microwave"
+    },
+    "oven_cabinet_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "coffee_machine_right_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "widestove_main_group_1": {
+      "cls": "Stove"
+    },
+    "widestove_hood_main_group_1": {
+      "cls": "Hood"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "knife_block_main_group_1": {
+      "cls": "Accessory"
+    },
+    "paper_towel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_oven_main_group_1": {
+      "cls": "ToasterOven"
+    },
+    "sink_island_group_1": {
+      "cls": "Sink"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_island_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_4_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_3_island_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_island_group_1": {
+      "cls": "Dishwasher"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear center burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.0716886855131285,
+    -0.9109194385959278,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "rear_center",
+    "cookware_burner": "rear_center"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000217/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000217/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cf74337f0a70bd9e4966ce48957606f9bce8f68
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000217/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain10",
+  "source_episode_index": 18,
+  "source_demo_key": "demo_18",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain10",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000218/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000218/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ce3b7da83ce3241bdfe173f43bc19eb46150c09
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000218/ep_meta.json
@@ -0,0 +1,416 @@
+{
+  "layout_id": 21,
+  "style_id": 28,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_left_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_15/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.16360049214596153,
+          0.14880519144154747,
+          0.48370738282279596
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_6_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_7_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_main_group": {
+      "cls": "Counter"
+    },
+    "sink_main_group": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "box_main_group": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_main_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_main_group_2": {
+      "cls": "Drawer"
+    },
+    "cab_1_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "paper_towel_main_group": {
+      "cls": "Accessory"
+    },
+    "toaster_main_group": {
+      "cls": "Toaster"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "stove_left_group": {
+      "cls": "Stove"
+    },
+    "counter_2_left_group": {
+      "cls": "Counter"
+    },
+    "hood_left_group": {
+      "cls": "Hood"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_left_group": {
+      "cls": "Box"
+    },
+    "fridge_left_group": {
+      "cls": "FridgeSideBySide"
+    },
+    "fridge_housing_left_group": {
+      "cls": "HousingCabinet"
+    },
+    "stack_4_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_left_group_2": {
+      "cls": "Drawer"
+    },
+    "counter_3_left_group": {
+      "cls": "Counter"
+    },
+    "cab_1_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_4_left_group": {
+      "cls": "SingleCabinet"
+    },
+    "coffee_machine_left_group": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_oven_left_group": {
+      "cls": "ToasterOven"
+    },
+    "counter_1_right_group": {
+      "cls": "Counter"
+    },
+    "stack_1_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "cab_1_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_right_group": {
+      "cls": "Microwave"
+    },
+    "island_island_group": {
+      "cls": "Counter"
+    },
+    "stack_1_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_island_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_island_group_2": {
+      "cls": "Drawer"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    0.8521643591855589,
+    -1.7740208901884271,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.1415926193612504
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "rear_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000218/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000218/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..a42a08a8678a042f93ae716ada697fd923a840f1
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000218/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain10",
+  "source_episode_index": 19,
+  "source_demo_key": "demo_19",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain10",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000219/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000219/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c8f949e5d8200ba0beeedeee520a5d540875740
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000219/ep_meta.json
@@ -0,0 +1,485 @@
+{
+  "layout_id": 22,
+  "style_id": 60,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stovetop_dining_area_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pot",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pot",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.15650207175883396,
+          0.14909917308392034,
+          0.01902900151672754
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_4_room": {
+      "cls": "Wall"
+    },
+    "wall_right_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_4_room": {
+      "cls": "Wall"
+    },
+    "wall_main_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_3_room": {
+      "cls": "Floor"
+    },
+    "floor_3_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_4_room": {
+      "cls": "Floor"
+    },
+    "floor_4_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_4_room": {
+      "cls": "Stool"
+    },
+    "stool_5_room": {
+      "cls": "Stool"
+    },
+    "stool_6_room": {
+      "cls": "Stool"
+    },
+    "sink_1_left_group": {
+      "cls": "Sink"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_left_group_2": {
+      "cls": "Drawer"
+    },
+    "oven_left_group": {
+      "cls": "Oven"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_left_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_4_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_left_group_2": {
+      "cls": "Drawer"
+    },
+    "cab_1_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_left_group": {
+      "cls": "Toaster"
+    },
+    "coffee_machine_left_group": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_left_group": {
+      "cls": "Accessory"
+    },
+    "knife_block_left_group": {
+      "cls": "Accessory"
+    },
+    "fridge_main_group": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridge_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_3": {
+      "cls": "Drawer"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_oven_main_group": {
+      "cls": "ToasterOven"
+    },
+    "stovetop_dining_area_group_1": {
+      "cls": "Stovetop"
+    },
+    "dining_dining_area_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_dining_area_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_dining_area_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_dining_area_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_dining_area_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_dining_area_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_dining_area_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_dining_area_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_dining_area_group_1_2": {
+      "cls": "Drawer"
+    },
+    "dining_dining_area_group_2": {
+      "cls": "Counter"
+    },
+    "stack_1_dining_area_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_1_dining_area_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_dining_area_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_dining_area_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_2_dining_area_group_2_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_dining_area_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_dining_area_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_3_dining_area_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_dining_area_group_2_2": {
+      "cls": "Drawer"
+    },
+    "bottom_front_group_base": {
+      "cls": "Box"
+    },
+    "bottom_front_group_1": {
+      "cls": "Drawer"
+    },
+    "middle_front_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_front_group": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_front_group": {
+      "cls": "HousingCabinet"
+    },
+    "top_front_group": {
+      "cls": "HingeCabinet"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.004493188675879,
+    -2.3927789779725845,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    -1.57079623937212
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "rear_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000219/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000219/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..182e9557f209b09afb88ae5c332d083e086c9001
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000219/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain10",
+  "source_episode_index": 20,
+  "source_demo_key": "demo_20",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain10",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000220/actions.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000220/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..55c23d5a8ccd023c1f272711fdcb2834ea97f533
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000220/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d45a59443fcd20bc5872dcb6a8a39c04007d0f935fc54d0b6795cce748ea808d
+size 24578
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000220/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000220/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..248e161cb4459560003e9cbe072d093673fcea7b
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000220/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cf4ea34b417a09bdf06250d15d9104c1bb77f80b1aff978948c8ef8a9b470c8
+size 42638
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000220/rewards_dense.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000220/rewards_dense.npz
new file mode 100644
index 0000000000000000000000000000000000000000..79d7651f4b9ce4eac20d69ee3e24c66ec20792d9
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000220/rewards_dense.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b909203bc05ab0081850ffdd402fe1a94b1bf085311e4ce83afcb328b6f6b5d
+size 620
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000220/states.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000220/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0a16ec63452aaf3ea809147e922341147b6d4dc1
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000220/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4d4460c1eec4206e646e137102c27d7a1b24e217ab1f03aeb349f81ea9f9c48
+size 730457
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000221/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000221/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c587b9aa8ebd7146c95e5443820b654b4613c82
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000221/ep_meta.json
@@ -0,0 +1,484 @@
+{
+  "layout_id": 24,
+  "style_id": 53,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan006/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.28911358575882123,
+          -0.09280529924552389,
+          0.4430062249049935
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_outer_room": {
+      "cls": "Wall"
+    },
+    "wall_left_outer_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_inner_room": {
+      "cls": "Wall"
+    },
+    "wall_front_inner_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_outer_room": {
+      "cls": "Wall"
+    },
+    "wall_front_outer_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_6_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "stove_main_group": {
+      "cls": "Stove"
+    },
+    "counter_2_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "dishwasher_main_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_5": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_6": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_6_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_6_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_6_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_7_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_7_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_7_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_7_main_group_3": {
+      "cls": "Drawer"
+    },
+    "wall_stack_main_group_base": {
+      "cls": "Box"
+    },
+    "wall_stack_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "wall_stack_main_group_2": {
+      "cls": "HingeCabinet"
+    },
+    "hood_main_group": {
+      "cls": "Hood"
+    },
+    "cab_1_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_4_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_5_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_6_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "coffee_machine_main_group": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_main_group": {
+      "cls": "Accessory"
+    },
+    "toaster_main_group": {
+      "cls": "Toaster"
+    },
+    "toaster_oven_main_group": {
+      "cls": "ToasterOven"
+    },
+    "bottom_right_group_base": {
+      "cls": "Box"
+    },
+    "bottom_right_group_1": {
+      "cls": "Drawer"
+    },
+    "cab_1_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_right_group": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_right_group": {
+      "cls": "HousingCabinet"
+    },
+    "top_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "fridge_right_group": {
+      "cls": "FridgeSideBySide"
+    },
+    "fridge_housing_right_group": {
+      "cls": "HousingCabinet"
+    },
+    "fridge_top_cabinet_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "sink_1_island_group_1": {
+      "cls": "Sink"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "box_island_group_1": {
+      "cls": "Box"
+    },
+    "panel_box_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "panel_box_1_island_group_1_1": {
+      "cls": "PanelCabinet"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_island_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_4_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_5_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_5_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "plant_island_group_1": {
+      "cls": "Accessory"
+    },
+    "stack_1_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_2_1": {
+      "cls": "SingleCabinet"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front center burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    4.258549405718694,
+    -0.9154397179457315,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "front_center",
+    "cookware_burner": "front_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000221/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000221/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fa96c93f3d087ad5b323c037b79c18c3b259274
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000221/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain10",
+  "source_episode_index": 22,
+  "source_demo_key": "demo_22",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain10",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000222/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000222/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddca714e18b8113be60bfe21b9e0c1d6faec7482
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000222/ep_meta.json
@@ -0,0 +1,352 @@
+{
+  "layout_id": 55,
+  "style_id": 11,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_17/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.19429186732020443,
+          0.17967370885342657,
+          0.45384265819829256
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_01_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_02_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "fridgebottomfreezer_main_group_1": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridgebottomfreezer_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "singlecabinet_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_4_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "sink_main_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "micro_cab_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_04_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_04_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_02_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_02_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_02_main_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "stack_05_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_05_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_05_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_01_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_01_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_01_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_14_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_13_main_group_1": {
+      "cls": "Box"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_06_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_06_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_06_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_07_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_07_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_07_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_7_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_8_island_group_1": {
+      "cls": "Box"
+    },
+    "paper_towel_island_group_1": {
+      "cls": "Accessory"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.192855682796475,
+    -1.0293243492415147,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5706379572530664
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "rear_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000222/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000222/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ef192005616993822f1dec7c24131b6a51ef5ef
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000222/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain10",
+  "source_episode_index": 23,
+  "source_demo_key": "demo_23",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain10",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000223/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000223/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed689dfd6d1002b8e230daa65a21f11d2385a97c
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000223/ep_meta.json
@@ -0,0 +1,452 @@
+{
+  "layout_id": 23,
+  "style_id": 57,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_left_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_21/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.30271003301181176,
+          0.10064760959071105,
+          0.44502492221858164
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_6_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_7_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_1_main_group": {
+      "cls": "Counter"
+    },
+    "sink_1_main_group": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "counter_corner_2_main_group": {
+      "cls": "Counter"
+    },
+    "box_1_main_group": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_main_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "box_2_main_group": {
+      "cls": "Box"
+    },
+    "cab_1_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_4_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "top_corner_box_main_group": {
+      "cls": "Box"
+    },
+    "coffee_machine_main_group": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_main_group": {
+      "cls": "Accessory"
+    },
+    "plant_main_group": {
+      "cls": "Accessory"
+    },
+    "knife_block_main_group": {
+      "cls": "Accessory"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "stove_left_group": {
+      "cls": "Stove"
+    },
+    "counter_2_left_group": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "box_left_group": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hood_left_group": {
+      "cls": "Hood"
+    },
+    "cab_1_left_group": {
+      "cls": "OpenCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "OpenCabinet"
+    },
+    "toaster_oven_left_group": {
+      "cls": "ToasterOven"
+    },
+    "toaster_left_group": {
+      "cls": "Toaster"
+    },
+    "counter_1_right_group": {
+      "cls": "Counter"
+    },
+    "box_right_group": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_3": {
+      "cls": "Drawer"
+    },
+    "bottom_right_group_base": {
+      "cls": "Box"
+    },
+    "bottom_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "bottom_right_group_2": {
+      "cls": "Drawer"
+    },
+    "microwave_right_group": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_right_group": {
+      "cls": "HousingCabinet"
+    },
+    "top_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "fridge_right_group": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridge_housing_right_group": {
+      "cls": "HousingCabinet"
+    },
+    "cab_1_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "island_1_island_group": {
+      "cls": "Counter"
+    },
+    "island_box_island_group": {
+      "cls": "Box"
+    },
+    "island_2_island_group": {
+      "cls": "Counter"
+    },
+    "panel_stack_1_island_group_base": {
+      "cls": "Box"
+    },
+    "panel_stack_1_island_group_1": {
+      "cls": "PanelCabinet"
+    },
+    "stack_1_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "panel_stack_2_island_group_base": {
+      "cls": "Box"
+    },
+    "panel_stack_2_island_group_1": {
+      "cls": "PanelCabinet"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    0.8688582086928509,
+    -2.234870233231731,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.1415926193612504
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "rear_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000223/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000223/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..49281cc11352414d1cfe7bb16285dd3eab564e2d
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000223/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain10",
+  "source_episode_index": 24,
+  "source_demo_key": "demo_24",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain10",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000224/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000224/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..495631c90001c75ef29373339274890ce2d25bd0
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000224/ep_meta.json
@@ -0,0 +1,485 @@
+{
+  "layout_id": 22,
+  "style_id": 14,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stovetop_dining_area_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.1555320591720038,
+          -0.07691059264823226,
+          0.020677267972846806
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_4_room": {
+      "cls": "Wall"
+    },
+    "wall_right_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_4_room": {
+      "cls": "Wall"
+    },
+    "wall_main_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_3_room": {
+      "cls": "Floor"
+    },
+    "floor_3_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_4_room": {
+      "cls": "Floor"
+    },
+    "floor_4_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_4_room": {
+      "cls": "Stool"
+    },
+    "stool_5_room": {
+      "cls": "Stool"
+    },
+    "stool_6_room": {
+      "cls": "Stool"
+    },
+    "sink_1_left_group": {
+      "cls": "Sink"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_left_group_2": {
+      "cls": "Drawer"
+    },
+    "oven_left_group": {
+      "cls": "Oven"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_left_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_4_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_left_group_2": {
+      "cls": "Drawer"
+    },
+    "cab_1_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_left_group": {
+      "cls": "Toaster"
+    },
+    "coffee_machine_left_group": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_left_group": {
+      "cls": "Accessory"
+    },
+    "knife_block_left_group": {
+      "cls": "Accessory"
+    },
+    "fridge_main_group": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridge_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_3": {
+      "cls": "Drawer"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_oven_main_group": {
+      "cls": "ToasterOven"
+    },
+    "stovetop_dining_area_group_1": {
+      "cls": "Stovetop"
+    },
+    "dining_dining_area_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_dining_area_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_dining_area_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_dining_area_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_dining_area_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_dining_area_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_dining_area_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_dining_area_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_dining_area_group_1_2": {
+      "cls": "Drawer"
+    },
+    "dining_dining_area_group_2": {
+      "cls": "Counter"
+    },
+    "stack_1_dining_area_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_1_dining_area_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_dining_area_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_dining_area_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_2_dining_area_group_2_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_dining_area_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_dining_area_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_3_dining_area_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_dining_area_group_2_2": {
+      "cls": "Drawer"
+    },
+    "bottom_front_group_base": {
+      "cls": "Box"
+    },
+    "bottom_front_group_1": {
+      "cls": "Drawer"
+    },
+    "middle_front_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_front_group": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_front_group": {
+      "cls": "HousingCabinet"
+    },
+    "top_front_group": {
+      "cls": "HingeCabinet"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.2215694123680625,
+    -2.4135408919122767,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    -1.57079623937212
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "front_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000224/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000224/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..91189655616aebbe9c0564c643ac4a34716a8317
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000224/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain10",
+  "source_episode_index": 25,
+  "source_demo_key": "demo_25",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain10",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000226/actions.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000226/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..243f08bcea5bacd17c35aaf9aa28181358e02bc6
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000226/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5218f7768635d8700cd8cb500da42742fc8ecadaa8fb263e742a3ed94feb5e9
+size 25152
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000226/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000226/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..047f721730c3ef817432d7ed70922305c594b81e
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000226/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000228/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000228/ep_meta.json
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@@ -0,0 +1,392 @@
+{
+  "layout_id": 32,
+  "style_id": 15,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "widestove_right_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
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+            -1.1780972450961724,
+            -0.7853981633974483
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+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml"
+      },
+      "reset_region": {
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+          -0.3032744441525811,
+          -0.15802847345995247,
+          0.44502495417347865
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
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+      "cls": "Sink"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "opencabinet_1_main_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_main_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "cube_1_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_3_main_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "knifeblock_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "widestove_right_group_1": {
+      "cls": "Stove"
+    },
+    "widestove_hood_right_group_1": {
+      "cls": "Hood"
+    },
+    "singlecabinet_1_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_2_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_3_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "bottom_right_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "microwave_right_group_1": {
+      "cls": "Microwave"
+    },
+    "counter_2_right_group_1": {
+      "cls": "Counter"
+    },
+    "fridgesidebyside_right_group_1": {
+      "cls": "FridgeSideBySide"
+    },
+    "fridgesidebyside_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "oven_cabinet_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_1_right_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_1_3": {
+      "cls": "Drawer"
+    },
+    "coffee_machine_right_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "PanelCabinet"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "papertowel_island_group_1": {
+      "cls": "Accessory"
+    },
+    "plant_island_group_1": {
+      "cls": "Accessory"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.4341308195554467,
+    -1.7687680439780693,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    0.00030199704781619374
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "front_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000228/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000228/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d406a89a2fbdb906102ceef8111f55172b972be
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000228/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain10",
+  "source_episode_index": 29,
+  "source_demo_key": "demo_29",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain10",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000229/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000229/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..936d2683189b6bb7a3825b063c88411b9336471e
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000229/ep_meta.json
@@ -0,0 +1,467 @@
+{
+  "layout_id": 35,
+  "style_id": 16,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stovetop_left_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
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+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_3/model.xml"
+      },
+      "reset_region": {
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+          0.24144324323619382,
+          -0.06776963761711371,
+          0.019035319936225488
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.002_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.003_room": {
+      "cls": "WallAccessory"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "box_1_main_group_1": {
+      "cls": "Box"
+    },
+    "hingecabinet_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "fridgefrenchdoor_main_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "knifeblock_main_group_1": {
+      "cls": "Accessory"
+    },
+    "paper_towel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "sink_right_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "counter_2_right_group_1": {
+      "cls": "Counter"
+    },
+    "singlecabinet_1_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_2_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_1_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_1_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "dishwasher_1_right_group_1": {
+      "cls": "Dishwasher"
+    },
+    "cube_3_right_group_1": {
+      "cls": "Box"
+    },
+    "stovetop_left_group_1": {
+      "cls": "Stovetop"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_3_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "bottom_left_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "oven_left_group_1": {
+      "cls": "Oven"
+    },
+    "oven_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "microwave_left_group_1": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_left_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_3_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "coffeemachine_left_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_oven_left_group_1": {
+      "cls": "ToasterOven"
+    },
+    "counter_1_island_group": {
+      "cls": "Counter"
+    },
+    "stack_2_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "plant_island_group": {
+      "cls": "Accessory"
+    },
+    "stack_2_dining_area_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_dining_area_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_dining_area_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_dining_area_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_dining_area_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_dining_area_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_dining_area_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_dining_area_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_dining_area_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_dining_area_group_2": {
+      "cls": "Drawer"
+    },
+    "stool_3_stool_group_1": {
+      "cls": "Stool"
+    },
+    "stool_2_stool_group_1": {
+      "cls": "Stool"
+    },
+    "stool_1_stool_group_1": {
+      "cls": "Stool"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    0.7943491081745656,
+    -1.4255343087122652,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.1415924507432367
+  ],
+  "task_refs": {
+    "knob": "front_right",
+    "cookware_burner": "front_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000229/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000229/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e209d41226450c4f51093e749f9287220cc68f7
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000229/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain30",
+  "source_episode_index": 0,
+  "source_demo_key": "demo_0",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain30",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000230/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000230/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..11565bc56175bc6e79966678c05bd6d898524461
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000230/ep_meta.json
@@ -0,0 +1,386 @@
+{
+  "layout_id": 59,
+  "style_id": 32,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "widestove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pot",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pot",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot060/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.2561933150178933,
+          -0.12491627813324865,
+          0.47018691497155635
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_01_room": {
+      "cls": "Wall"
+    },
+    "wall_left_01_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_02_room": {
+      "cls": "Wall"
+    },
+    "wall_left_02_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_03_room": {
+      "cls": "Wall"
+    },
+    "wall_left_03_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_04_room": {
+      "cls": "Wall"
+    },
+    "wall_left_04_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_enclosing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_enclosing_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_enclosing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_enclosing_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_01_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_02_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_03_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_04_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "fridgefrenchdoor_left_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "bottom_left_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "microwave_left_group_1": {
+      "cls": "Microwave"
+    },
+    "oven_cabinet_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_island_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "cube_3_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_4_island_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_island_group_1": {
+      "cls": "Dishwasher"
+    },
+    "sink_island_group_1": {
+      "cls": "Sink"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_01_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_01_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_01_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_02_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_02_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_02_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_03_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_04_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_04_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_3_main_group_1": {
+      "cls": "Counter"
+    },
+    "widestove_main_group_1": {
+      "cls": "Stove"
+    },
+    "widestove_hood_main_group_1": {
+      "cls": "Hood"
+    },
+    "singlecabinet_03_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_02_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_01_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_04_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "paper_towel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_oven_main_group_1": {
+      "cls": "ToasterOven"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front center burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
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+        -0.5,
+        0.35,
+        1.05
+      ],
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+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
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+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
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+      "camera_attribs": {
+        "fovy": "60"
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+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
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+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.5154331019169742,
+    -0.9943109989187806,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707888166096549
+  ],
+  "task_refs": {
+    "knob": "front_center",
+    "cookware_burner": "front_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000230/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000230/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..e62913c83f9eba4858174a50c88176deece2435b
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000230/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain30",
+  "source_episode_index": 1,
+  "source_demo_key": "demo_1",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain30",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000232/actions.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000232/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f9b8d70d4232a6a27cfddf7fd3836c220ff15f08
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000232/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f699a3b63ab9d45c6793d5f0dcbdad6f476e3cdf9fff2c0b6f759ef4bbedbb8
+size 25221
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000232/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000232/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..59a31496268f804819b139eebcf53724c9eaf3b2
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000232/model.xml.gz
@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000232/rewards_dense.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000232/rewards_dense.npz
new file mode 100644
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--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000232/rewards_dense.npz
@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000232/states.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000232/states.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000233/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000233/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d81331fafe229dce0861499fb754e6e03ff3e470
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000233/ep_meta.json
@@ -0,0 +1,344 @@
+{
+  "layout_id": 34,
+  "style_id": 17,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stovetop_left_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pot",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pot",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot057/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.16686190578148433,
+          0.13785714945934602,
+          -0.008009262015002122
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_4_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stovetop_left_group_1": {
+      "cls": "Stovetop"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_4_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "bottom_left_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "oven_left_group_1": {
+      "cls": "Oven"
+    },
+    "microwave_left_group_1": {
+      "cls": "Microwave"
+    },
+    "fridgefrenchdoor_left_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "oven_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_1_3": {
+      "cls": "PanelCabinet"
+    },
+    "stack_2_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "coffee_machine_left_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_left_group_1": {
+      "cls": "Toaster"
+    },
+    "toaster_oven_left_group_1": {
+      "cls": "ToasterOven"
+    },
+    "sink_island_group_1": {
+      "cls": "Sink"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_3_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_4_island_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_island_group_1": {
+      "cls": "Dishwasher"
+    },
+    "paper_towel_island_group_1": {
+      "cls": "Accessory"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    0.8167237056161352,
+    -2.3723670273802777,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.1412906566438026
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "rear_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000233/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000233/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9a4082a02df3bf9cead9987532369cb0e0448f8
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000233/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain30",
+  "source_episode_index": 4,
+  "source_demo_key": "demo_4",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain30",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000234/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000234/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9d55c0a6e3a1ea43a83ffc3189c8f145f55e816
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000234/ep_meta.json
@@ -0,0 +1,587 @@
+{
+  "layout_id": 25,
+  "style_id": 11,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_11/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.2377952079482478,
+          -0.11952500198612931,
+          0.45664184230975824
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_2_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_6_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_7_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_main_group": {
+      "cls": "Counter"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "stove_main_group": {
+      "cls": "Stove"
+    },
+    "counter_2_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_1_main_group": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_6_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_6_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_2_main_group": {
+      "cls": "Box"
+    },
+    "hood_main_group": {
+      "cls": "Hood"
+    },
+    "cab_corner_1_main_group": {
+      "cls": "Box"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_above_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_2_above_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_corner_2_main_group": {
+      "cls": "Box"
+    },
+    "cab_3_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_3_above_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_4_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_4_above_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "coffee_machine_main_group": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_main_group": {
+      "cls": "Toaster"
+    },
+    "knife_block_main_group": {
+      "cls": "Accessory"
+    },
+    "sink_1_left_group": {
+      "cls": "Sink"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "box_left_group": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_left_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_left_group_2": {
+      "cls": "Drawer"
+    },
+    "cab_1_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_4_left_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_5_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_6_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "paper_towel_left_group": {
+      "cls": "Accessory"
+    },
+    "toaster_oven_left_group": {
+      "cls": "ToasterOven"
+    },
+    "corner_counter_right_group": {
+      "cls": "Counter"
+    },
+    "counter_1_right_group": {
+      "cls": "Counter"
+    },
+    "box_right_group": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1": {
+      "cls": "PanelCabinet"
+    },
+    "fridge_right_group": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridge_housing_right_group": {
+      "cls": "HousingCabinet"
+    },
+    "bottom_right_group_base": {
+      "cls": "Box"
+    },
+    "bottom_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "middle_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_right_group": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_right_group": {
+      "cls": "HousingCabinet"
+    },
+    "top_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "counter_2_right_group": {
+      "cls": "Counter"
+    },
+    "stack_2_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_right_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_4": {
+      "cls": "Drawer"
+    },
+    "plant_right_group": {
+      "cls": "Accessory"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_island_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_island_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_island_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_island_group_2_2": {
+      "cls": "Drawer"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
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+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.691091151486118,
+    -0.8821891205803808,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "front_left",
+    "cookware_burner": "front_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000234/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000234/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8b748b2948ccf376dd04f60319b6f425fec5be6
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000234/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain30",
+  "source_episode_index": 5,
+  "source_demo_key": "demo_5",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain30",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000235/actions.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000235/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..52cf96761b2b418cfec144a73d74ee09e4ea0886
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000235/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe208f5364401ed5e33e65ecc6debf3c418e960639dc094eafa62370f55c44f8
+size 25272
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000235/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000235/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..340b164f585b136fe6919ed52f3783118d5bae6b
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000235/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c66723702af68569e009a5fb7ff993c4669b537fae7aaf46b1ce078eb5a94137
+size 40819
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000235/rewards_dense.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000235/rewards_dense.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8a6eff10e7730c930be6ee37787bc34a293d50d6
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000235/rewards_dense.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a61e07aff4a83ffd905a489d0626a362956ddcfc7f85714c5310af2fe8d3bad
+size 620
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000235/states.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000235/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8ca5c7d93d37d210e9716bde448f6a2f14ac6de4
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000235/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000236/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000236/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e61141ed91843a1c8587275afb7de1e9c928577
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000236/ep_meta.json
@@ -0,0 +1,427 @@
+{
+  "layout_id": 13,
+  "style_id": 25,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_left_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_center"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan003/model.xml"
+      },
+      "reset_region": {
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+          -0.11653565635034789,
+          0.44016840716083067
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+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_center"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_6_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "sink_1_main_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_1_main_group_1": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "box_2_main_group_1": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cab_corner_main_group_1": {
+      "cls": "Box"
+    },
+    "cab_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_main_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "plant_main_group_1": {
+      "cls": "Accessory"
+    },
+    "paper_towel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "stove_left_group_1": {
+      "cls": "Stove"
+    },
+    "counter_2_left_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_1": {
+      "cls": "PanelCabinet"
+    },
+    "stack_2_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_left_group_1": {
+      "cls": "Box"
+    },
+    "hood_left_group_1": {
+      "cls": "Hood"
+    },
+    "cab_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "cab_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_left_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "box_right_group_1": {
+      "cls": "Box"
+    },
+    "microwave_right_group_1": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "fridge_1_right_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridge_1_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "fridge_top_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "toaster_oven_right_group_1": {
+      "cls": "ToasterOven"
+    },
+    "dining_front_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_front_group_1": {
+      "cls": "Counter"
+    },
+    "cube_front_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_front_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_front_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_front_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_front_group_1_3": {
+      "cls": "Drawer"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front center burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
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+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
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+    },
+    "robot0_agentview_left": {
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+        1.05
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+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
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+        1.05
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+        -0.2993525564670563,
+        -0.55623859167099
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+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
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+        0.95
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+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    0.8724767225125933,
+    -1.472849654156065,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.1415926193612504
+  ],
+  "task_refs": {
+    "knob": "front_center",
+    "cookware_burner": "front_center"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000236/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000236/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..2324c1097b8e6ee8f6287731cab84f563b03727a
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000236/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain30",
+  "source_episode_index": 7,
+  "source_demo_key": "demo_7",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain30",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000237/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000237/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..31232cb2d16509d9c8a12d764ac33c85862f19dc
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000237/ep_meta.json
@@ -0,0 +1,424 @@
+{
+  "layout_id": 27,
+  "style_id": 35,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_front_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan002/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.18988406409958983,
+          0.1853399893304247,
+          0.45384259347784334
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "window_group_3_room": {
+      "cls": "Window"
+    },
+    "window_group_4_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_main_group": {
+      "cls": "Counter"
+    },
+    "sink_1_main_group": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "box_main_group": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_main_group_2": {
+      "cls": "SingleCabinet"
+    },
+    "bottom_main_group_base": {
+      "cls": "Box"
+    },
+    "bottom_main_group_1": {
+      "cls": "Drawer"
+    },
+    "middle_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_main_group": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "top_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "toaster_main_group": {
+      "cls": "Toaster"
+    },
+    "paper_towel_main_group": {
+      "cls": "Accessory"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_3": {
+      "cls": "Drawer"
+    },
+    "dishwasher_left_group": {
+      "cls": "Dishwasher"
+    },
+    "box_left_group": {
+      "cls": "Box"
+    },
+    "fridge_left_group": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridge_housing_left_group": {
+      "cls": "HousingCabinet"
+    },
+    "fridge_top_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "coffee_machine_left_group": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_oven_left_group": {
+      "cls": "ToasterOven"
+    },
+    "counter_1_front_group": {
+      "cls": "Counter"
+    },
+    "stove_front_group": {
+      "cls": "Stove"
+    },
+    "counter_2_front_group": {
+      "cls": "Counter"
+    },
+    "counter_3_front_group": {
+      "cls": "Counter"
+    },
+    "counter_4_front_group": {
+      "cls": "Counter"
+    },
+    "counter_5_front_group": {
+      "cls": "Counter"
+    },
+    "stack_1_front_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_front_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_front_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_front_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_front_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_front_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_front_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_front_group_2": {
+      "cls": "Drawer"
+    },
+    "box_1_front_group": {
+      "cls": "Box"
+    },
+    "box_2_front_group": {
+      "cls": "Box"
+    },
+    "box_3_front_group": {
+      "cls": "Box"
+    },
+    "hood_front_group": {
+      "cls": "Hood"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.1522217158165393,
+    -2.005956987459598,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    -1.57079623937212
+  ],
+  "task_refs": {
+    "knob": "front_left",
+    "cookware_burner": "rear_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000237/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000237/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..227d8e276c0639f91b010722ccd7a951c0522475
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000237/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain30",
+  "source_episode_index": 8,
+  "source_demo_key": "demo_8",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain30",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000238/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000238/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b6220707e6599e1ce5f7ecf9afa2fed97c3e6e2
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000238/ep_meta.json
@@ -0,0 +1,418 @@
+{
+  "layout_id": 19,
+  "style_id": 11,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_3",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.19439659994361227,
+          -0.10836629619364739,
+          0.45384256111761867
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "sink_left_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_left_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_3_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_1_3": {
+      "cls": "Drawer"
+    },
+    "cab_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "bottom_left_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "middle_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "middle_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "top_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_oven_left_group_1": {
+      "cls": "ToasterOven"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_right_group_1": {
+      "cls": "Counter"
+    },
+    "box_1_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "dishwasher_1_right_group_1": {
+      "cls": "Dishwasher"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "box_2_right_group_1": {
+      "cls": "Box"
+    },
+    "cab_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "coffee_machine_right_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "paper_towel_right_group_1": {
+      "cls": "Accessory"
+    },
+    "counter_corner_1_main_group_3": {
+      "cls": "Counter"
+    },
+    "stove_main_group_3": {
+      "cls": "Stove"
+    },
+    "fridge_1_main_group_3": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridge_1_housing_main_group_3": {
+      "cls": "HousingCabinet"
+    },
+    "top_1_main_group_3": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_main_group_3": {
+      "cls": "OpenCabinet"
+    },
+    "microwave_main_group_3": {
+      "cls": "Microwave"
+    },
+    "cab_micro_main_group_3": {
+      "cls": "HingeCabinet"
+    },
+    "cab_corner_main_group_3": {
+      "cls": "Box"
+    },
+    "dining_dining_area_group": {
+      "cls": "Counter"
+    },
+    "box_dining_area_group": {
+      "cls": "Box"
+    },
+    "stack_1_dining_area_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_dining_area_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_dining_area_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_dining_area_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_dining_area_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_dining_area_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_dining_area_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_dining_area_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_3_dining_area_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_dining_area_group_1": {
+      "cls": "Drawer"
+    },
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+    "stack_3_dining_area_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_3_dining_area_group_4": {
+      "cls": "Drawer"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
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+      "parent_body": "mobilebase0_support"
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+    "robot0_agentview_right": {
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+      "parent_body": "mobilebase0_support"
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+        0.707107,
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+      "parent_body": "robot0_right_hand"
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+  "init_robot_base_pos": [
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+    -0.8126823413207507,
+    0.0
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+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "front_right",
+    "cookware_burner": "front_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000238/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000238/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..a096cbbb98badeb8bfc9be4d7cc6096582e3de9f
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000238/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain30",
+  "source_episode_index": 9,
+  "source_demo_key": "demo_9",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain30",
+  "is_success": false
+}
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--- /dev/null
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@@ -0,0 +1,3 @@
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@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000240/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000240/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f7a423b681b0ff112999f84072cb5651df1727e
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000240/ep_meta.json
@@ -0,0 +1,413 @@
+{
+  "layout_id": 47,
+  "style_id": 22,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_right"
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+          "receptacle",
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+          "pots_and_pans"
+        ],
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+          "cookware"
+        ],
+        "cat": "pot",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot057/model.xml"
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+  "fixtures": {
+    "wall_right_1_room": {
+      "cls": "Wall"
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+    "wall_right_1_backing_room": {
+      "cls": "Wall"
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+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
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+    "wall_front_1_room": {
+      "cls": "Wall"
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+    "wall_front_1_backing_room": {
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+    "wall_left_2_room": {
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+    "wall_left_2_backing_room": {
+      "cls": "Wall"
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+    "wall_left_1_room": {
+      "cls": "Wall"
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+    "wall_left_1_backing_room": {
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+      "cls": "Floor"
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+      "cls": "Floor"
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+    "lightswitch_02_room": {
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+    "lightswitch_01_room": {
+      "cls": "WallAccessory"
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+    "wallaccessory_6.001_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
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+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_4_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "sink_right_group_1": {
+      "cls": "Sink"
+    },
+    "counter_03_right_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_2_right_group_1": {
+      "cls": "Counter"
+    },
+    "stack_05_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_05_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_05_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "box_05_right_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_right_group_1": {
+      "cls": "Dishwasher"
+    },
+    "stack_06_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_06_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_06_right_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_08_right_group_1_base": {
+      "cls": "Box"
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+      "cls": "SingleCabinet"
+    },
+    "stack_08_right_group_1_2": {
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+    "hingecabinet_1_front_group_1": {
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+    "coffee_machine_front_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_front_group_1": {
+      "cls": "Toaster"
+    },
+    "fridgesidebyside_main_group_1": {
+      "cls": "FridgeSideBySide"
+    },
+    "fridgesidebyside_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_6_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "counter_02_main_group_1": {
+      "cls": "Counter"
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+    "counter_01_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_2_main_group_1": {
+      "cls": "Counter"
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+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "micro_cab_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
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+    "cube_main_group_1": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_base": {
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+    "stack_03_main_group_1_1": {
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+    "stack_04_main_group_1_base": {
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+    "stack_04_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_04_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_oven_main_group_1": {
+      "cls": "ToasterOven"
+    },
+    "counter_04_front_group_2": {
+      "cls": "Counter"
+    },
+    "stack_10_front_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_10_front_group_2_1": {
+      "cls": "Drawer"
+    },
+    "stack_10_front_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_10_front_group_2_3": {
+      "cls": "Drawer"
+    },
+    "stack_10_front_group_2_4": {
+      "cls": "Drawer"
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+    "stack_09_front_group_2_base": {
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+    },
+    "cube_front_group_2": {
+      "cls": "Box"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
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+      "parent_body": "robot0_right_hand"
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+  "task_refs": {
+    "knob": "front_right",
+    "cookware_burner": "front_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000240/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000240/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..f72acc8d28ff65d8e20a19769e8d9d0fc3690f64
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000240/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain30",
+  "source_episode_index": 11,
+  "source_demo_key": "demo_11",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain30",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000241/actions.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000241/actions.npz
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+size 25565
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+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.557605157640716,
+    -3.651433346114975,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "front_left",
+    "cookware_burner": "front_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000244/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000244/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..48fc2995bc3d11991881681a3d15dc45564d09c8
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000244/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain30",
+  "source_episode_index": 15,
+  "source_demo_key": "demo_15",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain30",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000245/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000245/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..15d9383795793190811cb62093c9c798996fb041
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000245/ep_meta.json
@@ -0,0 +1,425 @@
+{
+  "layout_id": 27,
+  "style_id": 50,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_front_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pot",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pot",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.16654140081499832,
+          -0.0996524021700794,
+          0.48370738282279596
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "window_group_3_room": {
+      "cls": "Window"
+    },
+    "window_group_4_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_main_group": {
+      "cls": "Counter"
+    },
+    "sink_1_main_group": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "box_main_group": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_main_group_2": {
+      "cls": "SingleCabinet"
+    },
+    "bottom_main_group_base": {
+      "cls": "Box"
+    },
+    "bottom_main_group_1": {
+      "cls": "Drawer"
+    },
+    "middle_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_main_group": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "top_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "toaster_main_group": {
+      "cls": "Toaster"
+    },
+    "paper_towel_main_group": {
+      "cls": "Accessory"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_3": {
+      "cls": "Drawer"
+    },
+    "dishwasher_left_group": {
+      "cls": "Dishwasher"
+    },
+    "box_left_group": {
+      "cls": "Box"
+    },
+    "fridge_left_group": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridge_housing_left_group": {
+      "cls": "HousingCabinet"
+    },
+    "fridge_top_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "coffee_machine_left_group": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_oven_left_group": {
+      "cls": "ToasterOven"
+    },
+    "counter_1_front_group": {
+      "cls": "Counter"
+    },
+    "stove_front_group": {
+      "cls": "Stove"
+    },
+    "counter_2_front_group": {
+      "cls": "Counter"
+    },
+    "counter_3_front_group": {
+      "cls": "Counter"
+    },
+    "counter_4_front_group": {
+      "cls": "Counter"
+    },
+    "counter_5_front_group": {
+      "cls": "Counter"
+    },
+    "stack_1_front_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_front_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_front_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_front_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_front_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_front_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_front_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_front_group_2": {
+      "cls": "Drawer"
+    },
+    "box_1_front_group": {
+      "cls": "Box"
+    },
+    "box_2_front_group": {
+      "cls": "Box"
+    },
+    "box_3_front_group": {
+      "cls": "Box"
+    },
+    "hood_front_group": {
+      "cls": "Hood"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.024021279183669,
+    -1.959476843738058,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    -1.57079623937212
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "front_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000245/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000245/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..a00322d843605153e40ad174e8b0569525a9b9de
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000245/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain30",
+  "source_episode_index": 16,
+  "source_demo_key": "demo_16",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain30",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000246/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000246/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e5171265909c312e16316f736a2626da13b69f9
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000246/ep_meta.json
@@ -0,0 +1,344 @@
+{
+  "layout_id": 34,
+  "style_id": 49,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stovetop_left_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.312475623564133,
+          -0.07219629135189795,
+          0.02408438819943681
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_4_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stovetop_left_group_1": {
+      "cls": "Stovetop"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_4_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "bottom_left_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "oven_left_group_1": {
+      "cls": "Oven"
+    },
+    "microwave_left_group_1": {
+      "cls": "Microwave"
+    },
+    "fridgefrenchdoor_left_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "oven_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_1_3": {
+      "cls": "PanelCabinet"
+    },
+    "stack_2_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "coffee_machine_left_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_left_group_1": {
+      "cls": "Toaster"
+    },
+    "toaster_oven_left_group_1": {
+      "cls": "ToasterOven"
+    },
+    "sink_island_group_1": {
+      "cls": "Sink"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_3_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_4_island_group_1": {
+      "cls": "Box"
+    },
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+      "cls": "Dishwasher"
+    },
+    "paper_towel_island_group_1": {
+      "cls": "Accessory"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
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+        1.15
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+    "robot0_eye_in_hand": {
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+  "init_robot_base_pos": [
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+  "init_robot_base_ori": [
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+    0.0,
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+  "task_refs": {
+    "knob": "front_right",
+    "cookware_burner": "front_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000246/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000246/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..1552fc0263e168f170e0c132d727a0e48e478738
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000246/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain30",
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+  "source_demo_key": "demo_17",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain30",
+  "is_success": false
+}
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@@ -0,0 +1,3 @@
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@@ -0,0 +1,376 @@
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+          "cookware"
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+        "cat": "saucepan",
+        "split": "pretrain",
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+      "cls": "Wall"
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+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
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+      "cls": "Wall"
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+      "cls": "Wall"
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+      "cls": "Wall"
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+      "cls": "Wall"
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+      "cls": "Wall"
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+      "cls": "Floor"
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+      "cls": "Floor"
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+    "wallaccessory_1_room": {
+      "cls": "WallAccessory"
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+      "cls": "WallAccessory"
+    },
+    "wallaccessory_7_room": {
+      "cls": "WallAccessory"
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+      "cls": "WallAccessory"
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+      "cls": "WallAccessory"
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+      "cls": "WallAccessory"
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+      "cls": "SingleCabinet"
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+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
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+    "hingecabinet_2_main_group_1": {
+      "cls": "HingeCabinet"
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+    "stack_04_main_group_1_1": {
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+    "stack_02_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_02_main_group_1_2": {
+      "cls": "PanelCabinet"
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+      "cls": "Dishwasher"
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+      "cls": "Box"
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+    "stack_01_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_15_main_group_1": {
+      "cls": "Box"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "bottom_left_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "microwave_left_group_1": {
+      "cls": "Microwave"
+    },
+    "fridgefrenchdoor_left_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "oven_cabinet_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "island_1_island_group_1": {
+      "cls": "Counter"
+    },
+    "island_2_island_group_1": {
+      "cls": "Counter"
+    },
+    "island_3_island_group_1": {
+      "cls": "Counter"
+    },
+    "stove_island_group_1": {
+      "cls": "Stove"
+    },
+    "stove_hood_island_group_1": {
+      "cls": "Hood"
+    },
+    "stack_06_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_06_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_06_island_group_1_2": {
+      "cls": "Drawer"
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+    "stack_07_island_group_1_base": {
+      "cls": "Box"
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+    "stack_07_island_group_1_1": {
+      "cls": "Drawer"
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+    "stack_07_island_group_1_2": {
+      "cls": "Drawer"
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+  },
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+  "lang": "Turn off the front right burner of the stove.",
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+        "fovy": "60"
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+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
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+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.708771771566554,
+    -2.127972991356158,
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+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    4.7122376720160215
+  ],
+  "task_refs": {
+    "knob": "front_right",
+    "cookware_burner": "front_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000250/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000250/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..551e6eba7e9c8ee37bfbfe8e185e46f199693013
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000250/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain30",
+  "source_episode_index": 21,
+  "source_demo_key": "demo_21",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain30",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000251/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000251/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc988e9b93200d868efdcaa156cdcece11b8d043
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000251/ep_meta.json
@@ -0,0 +1,326 @@
+{
+  "layout_id": 40,
+  "style_id": 47,
+  "object_cfgs": [
+    {
+      "name": "cookware",
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+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_right"
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+      "info": {
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+          "kettle_non_electric",
+          "receptacle",
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+          "cookware"
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+        "cat": "kettle_non_electric",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_28/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.1697292733598175,
+          -0.09055386345125134,
+          0.4619347540804282
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "lightswitch_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.002_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.001_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.003_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_1_main_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_2_main_group_1": {
+      "cls": "Box"
+    },
+    "coffeemachine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "sink_right_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "stove_right_group_1": {
+      "cls": "Stove"
+    },
+    "microwave_right_group_1": {
+      "cls": "Microwave"
+    },
+    "micro_cab_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_1_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_2_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_1_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_1_right_group_1": {
+      "cls": "Dishwasher"
+    },
+    "box_2_right_group_1": {
+      "cls": "Box"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "fridgefrenchdoor_right_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_1_right_group_1": {
+      "cls": "HingeCabinet"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.8788361967424057,
+    -3.483435787114027,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    0.00030199704781619374
+  ],
+  "task_refs": {
+    "knob": "front_right",
+    "cookware_burner": "front_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000251/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000251/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ade558180e54535561af1fcec26a3d48307c162
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000251/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain30",
+  "source_episode_index": 22,
+  "source_demo_key": "demo_22",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain30",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000252/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000252/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..04773779d6fbbcfab0db9d93fe413fff5b732b6f
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000252/ep_meta.json
@@ -0,0 +1,368 @@
+{
+  "layout_id": 44,
+  "style_id": 39,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_left_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_24/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.18988406409958983,
+          0.1853399893304247,
+          0.45384259347784334
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory.001_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.005_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.003_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.004_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.002_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "sink_main_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "singlecabinet_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_main_group_1": {
+      "cls": "Box"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_1_main_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "fridgesidebyside_main_group_1": {
+      "cls": "FridgeSideBySide"
+    },
+    "fridgesidebyside_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "stove_left_group_1": {
+      "cls": "Stove"
+    },
+    "microwave_left_group_1": {
+      "cls": "Microwave"
+    },
+    "micro_cab_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "counter_2_left_group_1": {
+      "cls": "Counter"
+    },
+    "singlecabinet_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "hingecabinet_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_3_left_group_1": {
+      "cls": "Box"
+    },
+    "cube_4_left_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_1_left_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_left_group_1": {
+      "cls": "Box"
+    },
+    "coffee_machine_left_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "cube_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_3_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_4_island_group_1": {
+      "cls": "Box"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.6314961593005872,
+    -1.785571240455429,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.1412906566438026
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "rear_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000252/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000252/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..d780c898ff60f20ac33c9da1e8e278f3c401f7d0
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000252/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain30",
+  "source_episode_index": 23,
+  "source_demo_key": "demo_23",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain30",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000253/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000253/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..34573e17e6ef4df572412b8c401f6f3a9d124f44
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000253/ep_meta.json
@@ -0,0 +1,353 @@
+{
+  "layout_id": 55,
+  "style_id": 56,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.17793061636948468,
+          -0.11925439149681882,
+          0.42613688140483036
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_01_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_02_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "fridgebottomfreezer_main_group_1": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridgebottomfreezer_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "singlecabinet_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_4_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "sink_main_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "micro_cab_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_04_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_04_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_02_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_02_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_02_main_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "stack_05_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_05_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_05_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_01_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_01_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_01_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_14_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_13_main_group_1": {
+      "cls": "Box"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_06_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_06_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_06_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_07_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_07_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_07_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_7_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_8_island_group_1": {
+      "cls": "Box"
+    },
+    "paper_towel_island_group_1": {
+      "cls": "Accessory"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.483293375579081,
+    -0.9408546033710564,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5706379572530664
+  ],
+  "task_refs": {
+    "knob": "front_right",
+    "cookware_burner": "front_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000253/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000253/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..98fcb2f03d49d41b326d4d95f750c20cc1f162fe
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000253/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain30",
+  "source_episode_index": 24,
+  "source_demo_key": "demo_24",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain30",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000254/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000254/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8b2c4d8ebf52bd3ce79dae0c4ee4908dfcb2d94
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000254/ep_meta.json
@@ -0,0 +1,437 @@
+{
+  "layout_id": 18,
+  "style_id": 57,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stovetop_left_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.2626277946822096,
+          -0.09587891508960755,
+          -0.0033273872760993632
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_2_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_3_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_5_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_6_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_7_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "bottom_main_group_base": {
+      "cls": "Box"
+    },
+    "bottom_main_group_1": {
+      "cls": "Drawer"
+    },
+    "oven_main_group": {
+      "cls": "Oven"
+    },
+    "oven_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "microwave_main_group": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "top_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "fridge_main_group": {
+      "cls": "FridgeSideBySide"
+    },
+    "fridge_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "counter_corner_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_1_main_group": {
+      "cls": "Box"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_oven_main_group": {
+      "cls": "ToasterOven"
+    },
+    "plant_main_group": {
+      "cls": "Accessory"
+    },
+    "stovetop_left_group": {
+      "cls": "Stovetop"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_5": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_6": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_3": {
+      "cls": "PanelCabinet"
+    },
+    "stack_4_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_5": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_6": {
+      "cls": "Drawer"
+    },
+    "stack_5_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "hood_left_group": {
+      "cls": "Hood"
+    },
+    "cab_1_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "paper_towel_left_group": {
+      "cls": "Accessory"
+    },
+    "coffee_machine_left_group": {
+      "cls": "CoffeeMachine"
+    },
+    "sink_1_right_group": {
+      "cls": "Sink"
+    },
+    "counter_1_right_group": {
+      "cls": "Counter"
+    },
+    "box_1_right_group": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_1_right_group": {
+      "cls": "Dishwasher"
+    },
+    "panel_stack_right_group_base": {
+      "cls": "Box"
+    },
+    "panel_stack_right_group_1": {
+      "cls": "PanelCabinet"
+    },
+    "wall_stack_right_group_base": {
+      "cls": "Box"
+    },
+    "wall_stack_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_right_group": {
+      "cls": "Toaster"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    0.7809356038283707,
+    -4.4327835497742365,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.141592787948654
+  ],
+  "task_refs": {
+    "knob": "front_left",
+    "cookware_burner": "front_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000254/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000254/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd136c7d045a2d3e420938c952b3520c483f6127
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000254/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain30",
+  "source_episode_index": 25,
+  "source_demo_key": "demo_25",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain30",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000255/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000255/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cde64f6ac22e1ca17ff19380848e56887f91a2f5
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000255/ep_meta.json
@@ -0,0 +1,485 @@
+{
+  "layout_id": 22,
+  "style_id": 47,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stovetop_dining_area_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "center"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.0009073799783522955,
+          0.008246370728486047,
+          -0.0033258791524991872
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "center"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_4_room": {
+      "cls": "Wall"
+    },
+    "wall_right_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_4_room": {
+      "cls": "Wall"
+    },
+    "wall_main_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_3_room": {
+      "cls": "Floor"
+    },
+    "floor_3_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_4_room": {
+      "cls": "Floor"
+    },
+    "floor_4_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_4_room": {
+      "cls": "Stool"
+    },
+    "stool_5_room": {
+      "cls": "Stool"
+    },
+    "stool_6_room": {
+      "cls": "Stool"
+    },
+    "sink_1_left_group": {
+      "cls": "Sink"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_left_group_2": {
+      "cls": "Drawer"
+    },
+    "oven_left_group": {
+      "cls": "Oven"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_left_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_4_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_left_group_2": {
+      "cls": "Drawer"
+    },
+    "cab_1_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_left_group": {
+      "cls": "Toaster"
+    },
+    "coffee_machine_left_group": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_left_group": {
+      "cls": "Accessory"
+    },
+    "knife_block_left_group": {
+      "cls": "Accessory"
+    },
+    "fridge_main_group": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridge_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_3": {
+      "cls": "Drawer"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_oven_main_group": {
+      "cls": "ToasterOven"
+    },
+    "stovetop_dining_area_group_1": {
+      "cls": "Stovetop"
+    },
+    "dining_dining_area_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_dining_area_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_dining_area_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_dining_area_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_dining_area_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_dining_area_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_dining_area_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_dining_area_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_dining_area_group_1_2": {
+      "cls": "Drawer"
+    },
+    "dining_dining_area_group_2": {
+      "cls": "Counter"
+    },
+    "stack_1_dining_area_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_1_dining_area_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_dining_area_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_dining_area_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_2_dining_area_group_2_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_dining_area_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_dining_area_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_3_dining_area_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_dining_area_group_2_2": {
+      "cls": "Drawer"
+    },
+    "bottom_front_group_base": {
+      "cls": "Box"
+    },
+    "bottom_front_group_1": {
+      "cls": "Drawer"
+    },
+    "middle_front_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_front_group": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_front_group": {
+      "cls": "HousingCabinet"
+    },
+    "top_front_group": {
+      "cls": "HingeCabinet"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the center burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.008688272623261,
+    -2.445722710893303,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    -1.57079623937212
+  ],
+  "task_refs": {
+    "knob": "center",
+    "cookware_burner": "center"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000255/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000255/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee29ddc132f01a32ccbaa9cb84a174b98549b4b2
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000255/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain30",
+  "source_episode_index": 26,
+  "source_demo_key": "demo_26",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain30",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000256/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000256/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b507d47d38b0ddbcabf89aabfd98e92ae61ce927
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000256/ep_meta.json
@@ -0,0 +1,428 @@
+{
+  "layout_id": 13,
+  "style_id": 52,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_left_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_center"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_3/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.0003350334957762154,
+          -0.11653565635034789,
+          0.44016840716083067
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_center"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_6_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "sink_1_main_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_1_main_group_1": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "box_2_main_group_1": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cab_corner_main_group_1": {
+      "cls": "Box"
+    },
+    "cab_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_main_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "plant_main_group_1": {
+      "cls": "Accessory"
+    },
+    "paper_towel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "stove_left_group_1": {
+      "cls": "Stove"
+    },
+    "counter_2_left_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_1": {
+      "cls": "PanelCabinet"
+    },
+    "stack_2_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_left_group_1": {
+      "cls": "Box"
+    },
+    "hood_left_group_1": {
+      "cls": "Hood"
+    },
+    "cab_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "cab_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_left_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "box_right_group_1": {
+      "cls": "Box"
+    },
+    "microwave_right_group_1": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "fridge_1_right_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridge_1_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "fridge_top_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "toaster_oven_right_group_1": {
+      "cls": "ToasterOven"
+    },
+    "dining_front_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_front_group_1": {
+      "cls": "Counter"
+    },
+    "cube_front_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_front_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_front_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_front_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_front_group_1_3": {
+      "cls": "Drawer"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front center burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
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+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
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+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
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+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
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+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
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+        -0.5,
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+        0.95
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+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    0.8505079943278806,
+    -1.341258804533897,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.1415926193612504
+  ],
+  "task_refs": {
+    "knob": "front_center",
+    "cookware_burner": "front_center"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000256/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000256/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..501c5eb29928102013bd2ab1c9d5906f153b155d
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000256/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain30",
+  "source_episode_index": 27,
+  "source_demo_key": "demo_27",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain30",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000257/actions.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000257/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cb967c170fdc16421adc272bca2aaa9328d2d28d
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000257/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 25600
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000257/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000257/model.xml.gz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000257/rewards_dense.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000257/rewards_dense.npz
new file mode 100644
index 0000000000000000000000000000000000000000..663bcdd4153fb8cdc0626ea280b3fbf4beeb3cd1
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000257/rewards_dense.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000257/states.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000257/states.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000258/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000258/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2337cdf10c9f24df4a9e2c410259f2cf85fcbf41
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000258/ep_meta.json
@@ -0,0 +1,425 @@
+{
+  "layout_id": 27,
+  "style_id": 28,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_front_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
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+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml"
+      },
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+        "size": [
+          0.1,
+          0.1
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+        "name": "front_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
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+    "wall_right_2_backing_room": {
+      "cls": "Wall"
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+      "cls": "Floor"
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+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
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+    "floor_2_backing_room": {
+      "cls": "Floor"
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+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
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+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "window_group_3_room": {
+      "cls": "Window"
+    },
+    "window_group_4_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_main_group": {
+      "cls": "Counter"
+    },
+    "sink_1_main_group": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "box_main_group": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_main_group_2": {
+      "cls": "SingleCabinet"
+    },
+    "bottom_main_group_base": {
+      "cls": "Box"
+    },
+    "bottom_main_group_1": {
+      "cls": "Drawer"
+    },
+    "middle_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_main_group": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "top_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "toaster_main_group": {
+      "cls": "Toaster"
+    },
+    "paper_towel_main_group": {
+      "cls": "Accessory"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_3": {
+      "cls": "Drawer"
+    },
+    "dishwasher_left_group": {
+      "cls": "Dishwasher"
+    },
+    "box_left_group": {
+      "cls": "Box"
+    },
+    "fridge_left_group": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridge_housing_left_group": {
+      "cls": "HousingCabinet"
+    },
+    "fridge_top_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "coffee_machine_left_group": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_oven_left_group": {
+      "cls": "ToasterOven"
+    },
+    "counter_1_front_group": {
+      "cls": "Counter"
+    },
+    "stove_front_group": {
+      "cls": "Stove"
+    },
+    "counter_2_front_group": {
+      "cls": "Counter"
+    },
+    "counter_3_front_group": {
+      "cls": "Counter"
+    },
+    "counter_4_front_group": {
+      "cls": "Counter"
+    },
+    "counter_5_front_group": {
+      "cls": "Counter"
+    },
+    "stack_1_front_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_front_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_front_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_front_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_front_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_front_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_front_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_front_group_2": {
+      "cls": "Drawer"
+    },
+    "box_1_front_group": {
+      "cls": "Box"
+    },
+    "box_2_front_group": {
+      "cls": "Box"
+    },
+    "box_3_front_group": {
+      "cls": "Box"
+    },
+    "hood_front_group": {
+      "cls": "Hood"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
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+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
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+        -0.3673907518386841,
+        -0.5905545353889465
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+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
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+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.9792143731299054,
+    -1.9772332297684232,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    -1.57079623937212
+  ],
+  "task_refs": {
+    "knob": "front_left",
+    "cookware_burner": "front_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000258/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000258/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..c94b16cbb229546ea1ce54dadd5c3394e681d29f
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000258/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain30",
+  "source_episode_index": 29,
+  "source_demo_key": "demo_29",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain30",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000259/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000259/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..38cb4ecad786ff545223ccb48f65e702196e0108
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000259/ep_meta.json
@@ -0,0 +1,464 @@
+{
+  "layout_id": 56,
+  "style_id": 58,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "kettle_non_electric",
+          "receptacle",
+          "kettle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "kettle_non_electric",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_22/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.29460943814402885,
+          0.21459794851217048,
+          0.45524094270582643
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_02_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_03_room": {
+      "cls": "WallAccessory"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stack_13_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_13_island_group_2_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_04_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_04_island_group_2_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_12_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_12_island_group_2_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "hingecabinet_5_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_4_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "opencabinet_2_main_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "opencabinet_3_main_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_3_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "stove_hood_main_group_1": {
+      "cls": "Hood"
+    },
+    "cube_4_main_group_1": {
+      "cls": "Box"
+    },
+    "stack_11_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_11_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_03_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_02_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_02_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_04_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_04_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_04_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_08_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_08_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_08_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_06_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_06_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_07_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_07_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_07_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_07_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "cube_8_main_group_1": {
+      "cls": "Box"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "plant_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_oven_main_group_1": {
+      "cls": "ToasterOven"
+    },
+    "singlecabinet_1_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "hingecabinet_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_9_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "counter_8_right_group_1": {
+      "cls": "Counter"
+    },
+    "stack_6_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_6_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_6_right_group_1_2": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_11_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_7_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_7_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_7_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_12_right_group_1": {
+      "cls": "Box"
+    },
+    "fridgefrenchdoor_right_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "bottom_right_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "oven_cabinet_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_right_group_1": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "sink_island_group_1": {
+      "cls": "Sink"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_11_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_11_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_11_island_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_09_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_09_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_09_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_09_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_10_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_10_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_10_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "dishwasher_1_island_group_1": {
+      "cls": "Dishwasher"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front center burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.9940678679148145,
+    -0.8828300676751054,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.57064844767067
+  ],
+  "task_refs": {
+    "knob": "front_center",
+    "cookware_burner": "rear_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000259/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000259/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec53654e23000d49d7b8aa70b1ec8bd9f7aad130
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000259/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain100",
+  "source_episode_index": 0,
+  "source_demo_key": "demo_0",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000260/actions.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000260/actions.npz
new file mode 100644
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--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000260/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 25086
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000260/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000260/model.xml.gz
new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000260/rewards_dense.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000260/rewards_dense.npz
new file mode 100644
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--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000260/rewards_dense.npz
@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000260/states.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000260/states.npz
new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000261/actions.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000261/actions.npz
new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000261/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000261/model.xml.gz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000261/rewards_dense.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000261/rewards_dense.npz
new file mode 100644
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@@ -0,0 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..63ce7cbaa22ae5f3aaa0022c600f1427c578a15d
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000261/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000262/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000262/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcb7584caa0381a6e234989e2b663e7f953522b4
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000262/ep_meta.json
@@ -0,0 +1,428 @@
+{
+  "layout_id": 13,
+  "style_id": 15,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_left_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_center"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "kettle_non_electric",
+          "receptacle",
+          "kettle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "kettle_non_electric",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_11/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.0004877137316047348,
+          0.10065304751721027,
+          0.4450249861283757
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_center"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_6_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "sink_1_main_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_1_main_group_1": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "box_2_main_group_1": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cab_corner_main_group_1": {
+      "cls": "Box"
+    },
+    "cab_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_main_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "plant_main_group_1": {
+      "cls": "Accessory"
+    },
+    "paper_towel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "stove_left_group_1": {
+      "cls": "Stove"
+    },
+    "counter_2_left_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_1": {
+      "cls": "PanelCabinet"
+    },
+    "stack_2_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_left_group_1": {
+      "cls": "Box"
+    },
+    "hood_left_group_1": {
+      "cls": "Hood"
+    },
+    "cab_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "cab_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_left_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "box_right_group_1": {
+      "cls": "Box"
+    },
+    "microwave_right_group_1": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "fridge_1_right_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridge_1_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "fridge_top_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "toaster_oven_right_group_1": {
+      "cls": "ToasterOven"
+    },
+    "dining_front_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_front_group_1": {
+      "cls": "Counter"
+    },
+    "cube_front_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_front_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_front_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_front_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_front_group_1_3": {
+      "cls": "Drawer"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear center burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    0.9045657798628711,
+    -1.4171479998494776,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.1415926193612504
+  ],
+  "task_refs": {
+    "knob": "rear_center",
+    "cookware_burner": "rear_center"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000262/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000262/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..964decc9ced452e9aefb5e0cb8024cd4062fd9f4
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000262/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain100",
+  "source_episode_index": 3,
+  "source_demo_key": "demo_3",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000263/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000263/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3129ff9dcb982c47ab020424dccbf9b3b3268db2
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000263/ep_meta.json
@@ -0,0 +1,398 @@
+{
+  "layout_id": 11,
+  "style_id": 38,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_1_main_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pot",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pot",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.1763172679128117,
+          0.1573408155818936,
+          0.4799969710344246
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_outer_room": {
+      "cls": "Wall"
+    },
+    "wall_left_outer_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_back_outer_room": {
+      "cls": "Wall"
+    },
+    "wall_back_outer_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_main_group": {
+      "cls": "Counter"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "stove_1_main_group": {
+      "cls": "Stove"
+    },
+    "counter_2_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_main_group_2": {
+      "cls": "SingleCabinet"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_main_group": {
+      "cls": "Microwave"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "counter_stack_main_group_base": {
+      "cls": "Box"
+    },
+    "counter_stack_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "counter_stack_main_group_2": {
+      "cls": "SingleCabinet"
+    },
+    "counter_stack_main_group_3": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_main_group": {
+      "cls": "Toaster"
+    },
+    "sink_left_group": {
+      "cls": "Sink"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "counter_left_group": {
+      "cls": "Counter"
+    },
+    "panel_cab_left_group_base": {
+      "cls": "Box"
+    },
+    "panel_cab_left_group_1": {
+      "cls": "PanelCabinet"
+    },
+    "dishwasher_left_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_left_group_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_left_group_2": {
+      "cls": "Drawer"
+    },
+    "box_left_group": {
+      "cls": "Box"
+    },
+    "coffee_machine_left_group": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_left_group": {
+      "cls": "Accessory"
+    },
+    "box_right_group": {
+      "cls": "Box"
+    },
+    "fridge_right_group": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridge_housing_right_group": {
+      "cls": "HousingCabinet"
+    },
+    "cab_1_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "dining_dining_group": {
+      "cls": "Counter"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.168180153327225,
+    -0.8500878107765307,
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+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "rear_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000263/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000263/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..b48eb94ec977078256a47b198ab012af92aa3c49
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000263/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain100",
+  "source_episode_index": 4,
+  "source_demo_key": "demo_4",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain100",
+  "is_success": false
+}
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@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000267/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000267/ep_meta.json
new file mode 100644
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--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000267/ep_meta.json
@@ -0,0 +1,392 @@
+{
+  "layout_id": 32,
+  "style_id": 60,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "widestove_right_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_center"
+          ]
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+          [
+            0.7853981633974483,
+            1.1780972450961724
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+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pot",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pot",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot060/model.xml"
+      },
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+          0.1
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+        "name": "rear_center"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
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+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
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+      "cls": "Wall"
+    },
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+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
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+      "cls": "Sink"
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+      "cls": "Counter"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "opencabinet_1_main_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_main_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "cube_1_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_3_main_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "knifeblock_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "widestove_right_group_1": {
+      "cls": "Stove"
+    },
+    "widestove_hood_right_group_1": {
+      "cls": "Hood"
+    },
+    "singlecabinet_1_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_2_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_3_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "bottom_right_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "microwave_right_group_1": {
+      "cls": "Microwave"
+    },
+    "counter_2_right_group_1": {
+      "cls": "Counter"
+    },
+    "fridgesidebyside_right_group_1": {
+      "cls": "FridgeSideBySide"
+    },
+    "fridgesidebyside_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "oven_cabinet_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_1_right_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_1_3": {
+      "cls": "Drawer"
+    },
+    "coffee_machine_right_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "PanelCabinet"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
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+      "cls": "Drawer"
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+      "cls": "Drawer"
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+    "stack_2_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "papertowel_island_group_1": {
+      "cls": "Accessory"
+    },
+    "plant_island_group_1": {
+      "cls": "Accessory"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
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+        1.15
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+    "robot0_frontview": {
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+        "fovy": "60"
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+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
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+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
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+    -1.6759662290038702,
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+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    0.00030199704781619374
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "rear_center"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000267/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000267/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..735c06a924e7a187da6bbf1488cf3fb2358b0fe6
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000267/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain100",
+  "source_episode_index": 8,
+  "source_demo_key": "demo_8",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain100",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000268/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000268/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d5ea1a71e0cdfd8e396d988efc4affd8a8cb0cc
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000268/ep_meta.json
@@ -0,0 +1,497 @@
+{
+  "layout_id": 20,
+  "style_id": 54,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_right"
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+        },
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+            1.1780972450961724
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+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml"
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+      "cls": "Wall"
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+    "wall_left_1_backing_room": {
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+    "wall_main_1_room": {
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+    "wall_main_1_backing_room": {
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+    "wall_right_1_room": {
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+    "wall_right_1_backing_room": {
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+    "wall_front_1_room": {
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+    "wall_front_1_backing_room": {
+      "cls": "Wall"
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+    "wall_front_2_backing_room": {
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+    "wall_front_3_room": {
+      "cls": "Wall"
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+    "wall_front_3_backing_room": {
+      "cls": "Wall"
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+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
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+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
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+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
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+    "window_group_room": {
+      "cls": "Window"
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+    "counter_corner_main_group": {
+      "cls": "Counter"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "stove_main_group": {
+      "cls": "Stove"
+    },
+    "counter_2_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_main_group": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_6_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_6_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "microwave_main_group": {
+      "cls": "Microwave"
+    },
+    "cab_4_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_5_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_6_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "coffee_machine_main_group": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_main_group": {
+      "cls": "Accessory"
+    },
+    "counter_corner_1_left_group": {
+      "cls": "Counter"
+    },
+    "sink_1_left_group": {
+      "cls": "Sink"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "box_1_left_group": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_1_left_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_2_left_group": {
+      "cls": "Box"
+    },
+    "cab_1_left_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_left_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_corner_left_group": {
+      "cls": "Box"
+    },
+    "knife_block_left_group": {
+      "cls": "Accessory"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "panel_stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "panel_stack_1_island_group_1_1": {
+      "cls": "PanelCabinet"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "panel_stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "panel_stack_2_island_group_1_1": {
+      "cls": "PanelCabinet"
+    },
+    "plant_island_group_1": {
+      "cls": "Accessory"
+    },
+    "counter_1_island_group_2": {
+      "cls": "Counter"
+    },
+    "panel_stack_1_island_group_2_base": {
+      "cls": "Box"
+    },
+    "panel_stack_1_island_group_2_1": {
+      "cls": "PanelCabinet"
+    },
+    "stack_1_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_2_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_2_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_2_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_2_2": {
+      "cls": "Drawer"
+    },
+    "panel_stack_2_island_group_2_base": {
+      "cls": "Box"
+    },
+    "panel_stack_2_island_group_2_1": {
+      "cls": "PanelCabinet"
+    },
+    "counter_1_front_group_1": {
+      "cls": "Counter"
+    },
+    "fridge_1_front_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridge_1_housing_front_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "stack_1_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "box_front_group_1": {
+      "cls": "Box"
+    },
+    "cab_1_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_front_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "cab_3_front_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "toaster_front_group_1": {
+      "cls": "Toaster"
+    },
+    "counter_1_front_group_2": {
+      "cls": "Counter"
+    },
+    "stack_1_front_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_front_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_2_front_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_front_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_3_front_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "cab_1_front_group_2": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_front_group_2": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_front_group_2": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_oven_front_group_2": {
+      "cls": "ToasterOven"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.250821137863635,
+    -0.9145051474461661,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "rear_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000268/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000268/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..997f47cafaa6f649285c0553f3073cc444f82140
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000268/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain100",
+  "source_episode_index": 9,
+  "source_demo_key": "demo_9",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000269/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000269/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bf3b35f0a056b7f69d37da1f387ce95645f8b91
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000269/ep_meta.json
@@ -0,0 +1,367 @@
+{
+  "layout_id": 36,
+  "style_id": 20,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_right_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan003/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.1763172679128117,
+          0.1573408155818936,
+          0.4799969710344246
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_5_room": {
+      "cls": "Wall"
+    },
+    "wall_left_5_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.001_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.002_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.003_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "counter_1_front_group_1": {
+      "cls": "Counter"
+    },
+    "fridgefrenchdoor_front_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_front_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "stack_1_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_2_front_group_1": {
+      "cls": "Box"
+    },
+    "cube_1_front_group_1": {
+      "cls": "Box"
+    },
+    "papertowel_front_group_1": {
+      "cls": "Accessory"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "counter_2_right_group_1": {
+      "cls": "Counter"
+    },
+    "stove_right_group_1": {
+      "cls": "Stove"
+    },
+    "microwave_right_group_1": {
+      "cls": "Microwave"
+    },
+    "micro_cab_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "plant_right_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "toaster_oven_right_group_1": {
+      "cls": "ToasterOven"
+    },
+    "sink_left_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_1_left_group_1": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_left_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_3_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "dishwasher_1_left_group_1": {
+      "cls": "Dishwasher"
+    },
+    "coffee_machine_left_group_1": {
+      "cls": "CoffeeMachine"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.1261452594884873,
+    -1.5052009644732471,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    0.00030199704781619374
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "rear_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000269/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000269/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..a196f682bbe11a5e40da2f1e32a1712ae05f782a
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000269/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain100",
+  "source_episode_index": 10,
+  "source_demo_key": "demo_10",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000270/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000270/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d84b72fe1406de31e171d87889e4f45775d4ba0
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000270/ep_meta.json
@@ -0,0 +1,587 @@
+{
+  "layout_id": 25,
+  "style_id": 20,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_center"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "kettle_non_electric",
+          "receptacle",
+          "kettle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "kettle_non_electric",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle003/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.00021140564751492624,
+          0.15476023316796525,
+          0.44016840716083067
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_center"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_2_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_6_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_7_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_main_group": {
+      "cls": "Counter"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "stove_main_group": {
+      "cls": "Stove"
+    },
+    "counter_2_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_1_main_group": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_5_main_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_6_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_6_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_2_main_group": {
+      "cls": "Box"
+    },
+    "hood_main_group": {
+      "cls": "Hood"
+    },
+    "cab_corner_1_main_group": {
+      "cls": "Box"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_above_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_2_above_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_corner_2_main_group": {
+      "cls": "Box"
+    },
+    "cab_3_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_3_above_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_4_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_4_above_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "coffee_machine_main_group": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_main_group": {
+      "cls": "Toaster"
+    },
+    "knife_block_main_group": {
+      "cls": "Accessory"
+    },
+    "sink_1_left_group": {
+      "cls": "Sink"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "box_left_group": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_left_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_left_group_2": {
+      "cls": "Drawer"
+    },
+    "cab_1_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_4_left_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_5_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_6_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "paper_towel_left_group": {
+      "cls": "Accessory"
+    },
+    "toaster_oven_left_group": {
+      "cls": "ToasterOven"
+    },
+    "corner_counter_right_group": {
+      "cls": "Counter"
+    },
+    "counter_1_right_group": {
+      "cls": "Counter"
+    },
+    "box_right_group": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1": {
+      "cls": "PanelCabinet"
+    },
+    "fridge_right_group": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridge_housing_right_group": {
+      "cls": "HousingCabinet"
+    },
+    "bottom_right_group_base": {
+      "cls": "Box"
+    },
+    "bottom_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "middle_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_right_group": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_right_group": {
+      "cls": "HousingCabinet"
+    },
+    "top_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "counter_2_right_group": {
+      "cls": "Counter"
+    },
+    "stack_2_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_right_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_right_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_4": {
+      "cls": "Drawer"
+    },
+    "plant_right_group": {
+      "cls": "Accessory"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_island_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_island_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_island_group_2_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_2_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_island_group_2_2": {
+      "cls": "Drawer"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear center burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.759086127454772,
+    -0.9184267520421494,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "rear_center",
+    "cookware_burner": "rear_center"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000270/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000270/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b1c6be73b34dee32c39e881f29979a845a60d04
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000270/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain100",
+  "source_episode_index": 11,
+  "source_demo_key": "demo_11",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000271/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000271/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0f79dce13069b19fc82fa5513846771456f2ffa
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000271/ep_meta.json
@@ -0,0 +1,401 @@
+{
+  "layout_id": 30,
+  "style_id": 14,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_left_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_21/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.1800034429929901,
+          0.1543295574593578,
+          0.4390424604150111
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "ligh_switch_2_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_3_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "window_group_3_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "stove_left_group": {
+      "cls": "Stove"
+    },
+    "counter_2_left_group": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_3": {
+      "cls": "Drawer"
+    },
+    "fridge_left_group": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridge_housing_left_group": {
+      "cls": "HousingCabinet"
+    },
+    "cab_1_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_left_group": {
+      "cls": "Microwave"
+    },
+    "cab_3_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_4_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_5_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_6_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_oven_left_group": {
+      "cls": "ToasterOven"
+    },
+    "coffee_machine_left_group": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_left_group": {
+      "cls": "Accessory"
+    },
+    "sink_right_group": {
+      "cls": "Sink"
+    },
+    "counter_1_right_group": {
+      "cls": "Counter"
+    },
+    "stack_1_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "dishwasher_right_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_2_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_right_group": {
+      "cls": "Box"
+    },
+    "cab_1_right_group": {
+      "cls": "OpenCabinet"
+    },
+    "cab_2_right_group": {
+      "cls": "OpenCabinet"
+    },
+    "toaster_right_group": {
+      "cls": "Toaster"
+    },
+    "dining_front_group": {
+      "cls": "Counter"
+    },
+    "box_front_group": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_front_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_front_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_front_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_front_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_front_group_4": {
+      "cls": "Drawer"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    0.9062903205977633,
+    -2.5227747097994113,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.1415926193612504
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "rear_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000271/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000271/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..4af099282346e4819483850dab0d0e456e4badd5
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000271/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain100",
+  "source_episode_index": 12,
+  "source_demo_key": "demo_12",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain100",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000272/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000272/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..92a3582970f8296020395c6e75687b592ab73e5f
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000272/ep_meta.json
@@ -0,0 +1,452 @@
+{
+  "layout_id": 23,
+  "style_id": 44,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_left_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "kettle_non_electric",
+          "receptacle",
+          "kettle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "kettle_non_electric",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_18/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.29460943814402885,
+          0.21459794851217048,
+          0.45524094270582643
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_6_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_7_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_1_main_group": {
+      "cls": "Counter"
+    },
+    "sink_1_main_group": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "counter_corner_2_main_group": {
+      "cls": "Counter"
+    },
+    "box_1_main_group": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_main_group": {
+      "cls": "Dishwasher"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "box_2_main_group": {
+      "cls": "Box"
+    },
+    "cab_1_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group": {
+      "cls": "SingleCabinet"
+    },
+    "cab_4_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "top_corner_box_main_group": {
+      "cls": "Box"
+    },
+    "coffee_machine_main_group": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_main_group": {
+      "cls": "Accessory"
+    },
+    "plant_main_group": {
+      "cls": "Accessory"
+    },
+    "knife_block_main_group": {
+      "cls": "Accessory"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "stove_left_group": {
+      "cls": "Stove"
+    },
+    "counter_2_left_group": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "box_left_group": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hood_left_group": {
+      "cls": "Hood"
+    },
+    "cab_1_left_group": {
+      "cls": "OpenCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "OpenCabinet"
+    },
+    "toaster_oven_left_group": {
+      "cls": "ToasterOven"
+    },
+    "toaster_left_group": {
+      "cls": "Toaster"
+    },
+    "counter_1_right_group": {
+      "cls": "Counter"
+    },
+    "box_right_group": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_right_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_3": {
+      "cls": "Drawer"
+    },
+    "bottom_right_group_base": {
+      "cls": "Box"
+    },
+    "bottom_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "bottom_right_group_2": {
+      "cls": "Drawer"
+    },
+    "microwave_right_group": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_right_group": {
+      "cls": "HousingCabinet"
+    },
+    "top_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "fridge_right_group": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridge_housing_right_group": {
+      "cls": "HousingCabinet"
+    },
+    "cab_1_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_right_group": {
+      "cls": "HingeCabinet"
+    },
+    "island_1_island_group": {
+      "cls": "Counter"
+    },
+    "island_box_island_group": {
+      "cls": "Box"
+    },
+    "island_2_island_group": {
+      "cls": "Counter"
+    },
+    "panel_stack_1_island_group_base": {
+      "cls": "Box"
+    },
+    "panel_stack_1_island_group_1": {
+      "cls": "PanelCabinet"
+    },
+    "stack_1_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "panel_stack_2_island_group_base": {
+      "cls": "Box"
+    },
+    "panel_stack_2_island_group_1": {
+      "cls": "PanelCabinet"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    0.8849579295854828,
+    -2.256930720201871,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.1415926193612504
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "rear_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000272/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000272/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0ab70c1f77c2df006346f0337d507f1b79ce770
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000272/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain100",
+  "source_episode_index": 13,
+  "source_demo_key": "demo_13",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain100",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000273/actions.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000273/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..02e1c3af6b4ef8dd6bb058a884e84d4461d115bc
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000273/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71e76240be6ef7eb995d17eec6c48d18ecab135ed620cbae2cc3f678aa509969
+size 25261
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000273/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000273/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..6fcf83e04d4f16b1bb19da0de743b55017e8276c
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000273/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d5252ac826ec1f3412023ee90389016a512a00e3cd53e5b802cc91d83173f01
+size 41766
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000273/rewards_dense.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000273/rewards_dense.npz
new file mode 100644
index 0000000000000000000000000000000000000000..848db262e28a28bd6615f38fb429cb0a5c77f803
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000273/rewards_dense.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 613
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000273/states.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000273/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b1e4ef6852bdce2717a74789447b01b339b617c9
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000273/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 428329
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000274/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000274/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9ae68af3b08aece1df5e77cda7975acddd9b034
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000274/ep_meta.json
@@ -0,0 +1,566 @@
+{
+  "layout_id": 39,
+  "style_id": 26,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stovetop_island_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.2600525637192651,
+          -0.08356082315944455,
+          -0.007280309186499837
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_5_room": {
+      "cls": "Wall"
+    },
+    "wall_front_5_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_5_room": {
+      "cls": "Wall"
+    },
+    "wall_right_5_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_4_room": {
+      "cls": "Wall"
+    },
+    "wall_front_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_4_room": {
+      "cls": "Wall"
+    },
+    "wall_right_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_6_room": {
+      "cls": "Wall"
+    },
+    "wall_front_6_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_7_room": {
+      "cls": "Wall"
+    },
+    "wall_front_7_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_room": {
+      "cls": "Wall"
+    },
+    "wall_left_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_3_room": {
+      "cls": "Floor"
+    },
+    "floor_3_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_6.001_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "sink_main_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "fridgefrenchdoor_main_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_5_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_4_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_3_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_1_main_group_1": {
+      "cls": "Box"
+    },
+    "stack_5_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_5_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_6_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_6_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_6_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_7_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_7_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_7_main_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "knifeblock_main_group_1": {
+      "cls": "Accessory"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "stovetop_island_group_1": {
+      "cls": "Stovetop"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_island_group_2.001_base": {
+      "cls": "Box"
+    },
+    "stack_5_island_group_2.001_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_island_group_2.001_2": {
+      "cls": "Drawer"
+    },
+    "stack_6_island_group_2.001_base": {
+      "cls": "Box"
+    },
+    "stack_6_island_group_2.001_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_6_island_group_2.001_2": {
+      "cls": "Drawer"
+    },
+    "stack_7_island_group_2.001_base": {
+      "cls": "Box"
+    },
+    "stack_7_island_group_2.001_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_7_island_group_2.001_2": {
+      "cls": "Drawer"
+    },
+    "stack_8_island_group_2.001_base": {
+      "cls": "Box"
+    },
+    "stack_8_island_group_2.001_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_8_island_group_2.001_2": {
+      "cls": "Drawer"
+    },
+    "counter_1_front_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_2_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_1_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_5_front_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_5_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_front_group_1_3": {
+      "cls": "Drawer"
+    },
+    "bottom_front_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_front_group_1_1": {
+      "cls": "Drawer"
+    },
+    "oven_front_group_1": {
+      "cls": "Oven"
+    },
+    "oven_housing_front_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "microwave_front_group_1": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_front_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "coffeemachine_front_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_oven_front_group_1": {
+      "cls": "ToasterOven"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.9422388271760718,
+    -3.653109845235527,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "front_right",
+    "cookware_burner": "front_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000274/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000274/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd88a2edfccd0b1b375f4713669366817095f7c9
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000274/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain100",
+  "source_episode_index": 15,
+  "source_demo_key": "demo_15",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain100",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000275/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000275/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..579981b7db7f133513071bccfc0b0a4d70079d03
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000275/ep_meta.json
@@ -0,0 +1,380 @@
+{
+  "layout_id": 14,
+  "style_id": 29,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_center"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "kettle_non_electric",
+          "receptacle",
+          "kettle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "kettle_non_electric",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_19/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.004914930787441105,
+          0.16063501550752776,
+          0.47018691497155635
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_center"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_1_main_group_1": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "cab_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "micro_cab_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_left_group_1": {
+      "cls": "Counter"
+    },
+    "fridge_left_group_1": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridge_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_1.002_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_1_left_group_1": {
+      "cls": "Box"
+    },
+    "cab_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "cab_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_oven_left_group_1": {
+      "cls": "ToasterOven"
+    },
+    "knife_block_left_group_1": {
+      "cls": "Accessory"
+    },
+    "sink_1_island_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_island_group_1": {
+      "cls": "Counter"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "box_island_group_1": {
+      "cls": "Box"
+    },
+    "panel_stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "panel_stack_1_island_group_1_1": {
+      "cls": "PanelCabinet"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "dishwasher_island_group_1": {
+      "cls": "Dishwasher"
+    },
+    "panel_stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "panel_stack_2_island_group_1_1": {
+      "cls": "PanelCabinet"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.081682620587853,
+    -0.8806040780514877,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "rear_center"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000275/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000275/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5e52a4b073b2622ef1e90299306b6ad30148783
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000275/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain100",
+  "source_episode_index": 16,
+  "source_demo_key": "demo_16",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000276/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000276/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e4910bcc199a1877a05e849a0ec64a998b488ca
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000276/ep_meta.json
@@ -0,0 +1,394 @@
+{
+  "layout_id": 38,
+  "style_id": 44,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_left_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_17/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.15868875661279488,
+          0.14550572089201122,
+          0.4520059888974326
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_room": {
+      "cls": "Wall"
+    },
+    "wall_right_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory.001_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.005_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.003_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.004_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.007_room": {
+      "cls": "WallAccessory"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_4_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "sink_main_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "opencabinet_1_main_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "opencabinet_2_main_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "stack_3_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "coffeemachine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "bottom_main_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "oven_cabinet_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "stove_left_group_1": {
+      "cls": "Stove"
+    },
+    "counter_2_left_group_1": {
+      "cls": "Counter"
+    },
+    "fridgesidebyside_left_group_1": {
+      "cls": "FridgeSideBySide"
+    },
+    "fridgesidebyside_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_4_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "knifeblock_left_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_oven_left_group_1": {
+      "cls": "ToasterOven"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "cube_3_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    0.8615078152055778,
+    -4.480686626579401,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.1412906566438026
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "rear_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000276/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000276/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..469c0957e87e029d8b9d6efa68d6cf843247ee8b
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000276/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain100",
+  "source_episode_index": 17,
+  "source_demo_key": "demo_17",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000277/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000277/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..63dcee6052892ebae5ec78e456c2a27dfa555bb9
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000277/ep_meta.json
@@ -0,0 +1,431 @@
+{
+  "layout_id": 51,
+  "style_id": 13,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pot",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pot",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot064/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.1593645531319272,
+          -0.09422443449506909,
+          0.4519895418255599
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_01_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_02_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_03_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_04_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_05_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_06_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_07_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "hingecabinet_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_5_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_2_main_group_1": {
+      "cls": "Box"
+    },
+    "hingecabinet_6_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "sink_main_group_1": {
+      "cls": "Sink"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_3_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "micro_cab_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_01_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_01_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_02_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_02_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_02_main_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_03_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_04_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_04_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_05_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_05_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_05_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_06_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_06_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_06_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_06_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "cube_1_main_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "plant_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "fridgefrenchdoor_main_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_4_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_3_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "counter_4_right_group_1": {
+      "cls": "Counter"
+    },
+    "counter_5_right_group_1": {
+      "cls": "Counter"
+    },
+    "stack_07_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_07_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_08_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_08_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_08_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_1_right_group_1": {
+      "cls": "Box"
+    },
+    "toaster_oven_right_group_1": {
+      "cls": "ToasterOven"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_09_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_09_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_09_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_09_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_11_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_11_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_11_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_10_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_10_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_10_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    6.280179641640294,
+    -0.8199949645808909,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.57064844767067
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "front_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000277/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000277/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..06d5fb18110c5f2a65cefbd33d141ada5d7b7e2e
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000277/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain100",
+  "source_episode_index": 18,
+  "source_demo_key": "demo_18",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000278/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000278/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d75a25348a9564ed05d01bc6111a27321a8ab83d
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000278/ep_meta.json
@@ -0,0 +1,376 @@
+{
+  "layout_id": 58,
+  "style_id": 42,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_island_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.14749302765904157,
+          -0.08274024767106936,
+          0.46965236862466925
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_7_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_03_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_01_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_02_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "window_group_3_room": {
+      "cls": "Window"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "sink_main_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "hingecabinet_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_14_main_group_1": {
+      "cls": "Box"
+    },
+    "stack_04_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_04_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_03_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_02_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_02_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_02_main_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "stack_01_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_01_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_15_main_group_1": {
+      "cls": "Box"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "bottom_left_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "microwave_left_group_1": {
+      "cls": "Microwave"
+    },
+    "fridgefrenchdoor_left_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "oven_cabinet_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "island_1_island_group_1": {
+      "cls": "Counter"
+    },
+    "island_2_island_group_1": {
+      "cls": "Counter"
+    },
+    "island_3_island_group_1": {
+      "cls": "Counter"
+    },
+    "stove_island_group_1": {
+      "cls": "Stove"
+    },
+    "stove_hood_island_group_1": {
+      "cls": "Hood"
+    },
+    "stack_06_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_06_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_06_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_07_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_07_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_07_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_07_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_08_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_08_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_16_island_group_1": {
+      "cls": "Box"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
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+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
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+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
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+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
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+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
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+      "camera_attribs": {
+        "fovy": "60"
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+      "parent_body": "mobilebase0_support"
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+    "robot0_frontview": {
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+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
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+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.515423921920887,
+    -2.1359210882203423,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    4.7122376720160215
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "front_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000278/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000278/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..a34de58949c8b7a861cee82e811bc8276cf109ba
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000278/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain100",
+  "source_episode_index": 19,
+  "source_demo_key": "demo_19",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000279/actions.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000279/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d974ccd7184b152b31e8ff32e7b7c40bf000abc3
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000279/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 24528
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000279/model.xml.gz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000279/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..dbd254030129a84a555071d2293006115c564582
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000279/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 34670
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000279/rewards_dense.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000279/rewards_dense.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0d5bd9675f07472ba4eb075602381da3ed8af0f7
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000279/rewards_dense.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 620
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000279/states.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000279/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cc7761930b44abbcb6444f45d343f0473f19ce47
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 383258
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000280/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000280/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4873218e2ae98eb96fb8e27f4e66264d8ba15dd3
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000280/ep_meta.json
@@ -0,0 +1,464 @@
+{
+  "layout_id": 56,
+  "style_id": 36,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_center"
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+          "pots_and_pans"
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+          "cookware"
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+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml"
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+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
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+    "wallaccessory_1_room": {
+      "cls": "WallAccessory"
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+      "cls": "WallAccessory"
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+      "cls": "WallAccessory"
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+    "wallaccessory_4_room": {
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+    "lightswitch_02_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_03_room": {
+      "cls": "WallAccessory"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
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+    "stool_2_room": {
+      "cls": "Stool"
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+      "cls": "Stool"
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+      "cls": "Box"
+    },
+    "stack_13_island_group_2_1": {
+      "cls": "HingeCabinet"
+    },
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+      "cls": "Box"
+    },
+    "stack_04_island_group_2_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_12_island_group_2_base": {
+      "cls": "Box"
+    },
+    "stack_12_island_group_2_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "hingecabinet_5_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_4_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "opencabinet_2_main_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "opencabinet_3_main_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_3_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "stove_hood_main_group_1": {
+      "cls": "Hood"
+    },
+    "cube_4_main_group_1": {
+      "cls": "Box"
+    },
+    "stack_11_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_11_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_03_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_02_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_02_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_04_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_04_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_04_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_08_main_group_1_base": {
+      "cls": "Box"
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+      "cls": "HingeCabinet"
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+    },
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+    "stack_07_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_07_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "cube_8_main_group_1": {
+      "cls": "Box"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "plant_main_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_oven_main_group_1": {
+      "cls": "ToasterOven"
+    },
+    "singlecabinet_1_right_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "hingecabinet_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_9_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "counter_8_right_group_1": {
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+    },
+    "stack_6_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_6_right_group_1_2": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_11_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_7_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_7_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_7_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_12_right_group_1": {
+      "cls": "Box"
+    },
+    "fridgefrenchdoor_right_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "bottom_right_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "oven_cabinet_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_right_group_1": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "sink_island_group_1": {
+      "cls": "Sink"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_11_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_11_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_11_island_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_09_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_09_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_09_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_09_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_10_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_10_island_group_1_1": {
+      "cls": "SingleCabinet"
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+    "stack_10_island_group_1_2": {
+      "cls": "Drawer"
+    },
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+      "cls": "Dishwasher"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front center burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
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+        "fovy": "60"
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+      "parent_body": "mobilebase0_support"
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+    "robot0_eye_in_hand": {
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+        0.05,
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+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.183032210188311,
+    -0.8781417830980877,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.57064844767067
+  ],
+  "task_refs": {
+    "knob": "front_center",
+    "cookware_burner": "front_center"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000280/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000280/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..d25045b27e61cb604beb8e05542297ca7e845c84
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000280/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain100",
+  "source_episode_index": 21,
+  "source_demo_key": "demo_21",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000281/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000281/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc470527b0dbb14553eed4e04e6ee701a9673ed0
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000281/ep_meta.json
@@ -0,0 +1,401 @@
+{
+  "layout_id": 45,
+  "style_id": 29,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_right_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "kettle_non_electric",
+          "receptacle",
+          "kettle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "kettle_non_electric",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle006/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.14636090221691678,
+          -0.09510533194069311,
+          0.4631342364656341
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.003_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.004_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory.002_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_1_room": {
+      "cls": "Window"
+    },
+    "window_group_2_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "sink_main_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_1_main_group_1": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "cube_2_main_group_1": {
+      "cls": "Box"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "knife_block_main_group_1": {
+      "cls": "Accessory"
+    },
+    "paper_towel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "stove_right_group_1": {
+      "cls": "Stove"
+    },
+    "microwave_right_group_1": {
+      "cls": "Microwave"
+    },
+    "micro_cab_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "counter_2_right_group_1": {
+      "cls": "Counter"
+    },
+    "fridgesidebyside_right_group_1": {
+      "cls": "FridgeSideBySide"
+    },
+    "fridgesidebyside_housing_right_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_5_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_4_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "cube_1_right_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "cube_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "panelbox_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "panelbox_2_island_group_1_1": {
+      "cls": "PanelCabinet"
+    },
+    "panelbox_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "panelbox_1_island_group_1_1": {
+      "cls": "PanelCabinet"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.8550809832036395,
+    -2.1685224784033217,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    0.00030199704781619374
+  ],
+  "task_refs": {
+    "knob": "front_left",
+    "cookware_burner": "front_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000281/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000281/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..feaee752ee25117147bd5aae36da25a9a692593a
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000281/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain100",
+  "source_episode_index": 22,
+  "source_demo_key": "demo_22",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain100",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000282/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000282/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce39b0cd68c5e6a9436baba2b9f1ef370f4be864
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000282/ep_meta.json
@@ -0,0 +1,428 @@
+{
+  "layout_id": 31,
+  "style_id": 32,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stovetop_right_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "kettle_non_electric",
+          "receptacle",
+          "kettle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "kettle_non_electric",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle003/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.25444405795717506,
+          0.13746568195098444,
+          -0.007280309186499837
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_room": {
+      "cls": "Wall"
+    },
+    "wall_main_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "fridgebottomfreezer_main_group_1": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridgebottomfreezer_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "bottom_main_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "oven_main_group_1": {
+      "cls": "Oven"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "hingecabinet_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cube_2_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_3_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_1_main_group_1": {
+      "cls": "Box"
+    },
+    "oven_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stovetop_right_group_1": {
+      "cls": "Stovetop"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_2_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_4_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hood_right_group_1": {
+      "cls": "Hood"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_right_group_1_3": {
+      "cls": "PanelCabinet"
+    },
+    "stack_5_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_5_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_5_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "coffee_machine_right_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "papertowel_right_group_1": {
+      "cls": "Accessory"
+    },
+    "toaster_oven_right_group_1": {
+      "cls": "ToasterOven"
+    },
+    "sink_island_group_1": {
+      "cls": "Sink"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_3_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_4_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_5_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_5_island_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_5_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_island_group_1_3": {
+      "cls": "Drawer"
+    },
+    "cube_6_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_7_island_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_island_group_1": {
+      "cls": "Dishwasher"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    4.815888058394835,
+    -4.778085128223549,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    0.00030199704781619374
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "rear_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000282/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000282/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2b5757223f929b5be89efef632980af76294c91
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000282/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain100",
+  "source_episode_index": 23,
+  "source_demo_key": "demo_23",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain100",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000283/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000283/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c936eaba438de3ff3d711f7d276009a74a8cdbbd
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000283/ep_meta.json
@@ -0,0 +1,407 @@
+{
+  "layout_id": 54,
+  "style_id": 35,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_left"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
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+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.19429186732020443,
+          0.17967370885342657,
+          0.45384265819829256
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_left"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_4_room": {
+      "cls": "Stool"
+    },
+    "fridgefrenchdoor_main_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "bottom_main_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "oven_cabinet_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_4_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_1_main_group_1": {
+      "cls": "Box"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "stove_hood_main_group_1": {
+      "cls": "Hood"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_02_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_02_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_02_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_01_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_01_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_oven_main_group_1": {
+      "cls": "ToasterOven"
+    },
+    "opencabinet_1_right_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "cube_3_right_group_1": {
+      "cls": "Box"
+    },
+    "cube_4_right_group_1": {
+      "cls": "Box"
+    },
+    "hingecabinet_6_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_5_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "sink_right_group_1": {
+      "cls": "Sink"
+    },
+    "counter_4_right_group_1": {
+      "cls": "Counter"
+    },
+    "stack_05_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_05_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_05_right_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_04_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_06_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_06_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_2_right_group_1": {
+      "cls": "Box"
+    },
+    "cube_1_right_group_1": {
+      "cls": "Box"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_07_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_07_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_07_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_08_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_08_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_08_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_3_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_4_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_06_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_06_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_06_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_island_group_1": {
+      "cls": "Dishwasher"
+    },
+    "plant_island_group_1": {
+      "cls": "Accessory"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
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+        -0.3199238181114197,
+        -0.6175596117973328
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+    },
+    "robot0_agentview_left": {
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+        0.35,
+        1.05
+      ],
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+        0.29935253,
+        -0.37678665,
+        -0.6775092
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+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
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+    "robot0_agentview_right": {
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+        -0.35,
+        1.05
+      ],
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+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
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+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
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+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.4093239225449796,
+    -0.9536603751838155,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5706379572530664
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "rear_left"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000283/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000283/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..96e6232fd59bd04c42dafba91c2654108289aa77
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000283/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain100",
+  "source_episode_index": 24,
+  "source_demo_key": "demo_24",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain100",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000284/actions.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000284/actions.npz
new file mode 100644
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--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000284/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000284/rewards_dense.npz b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000284/rewards_dense.npz
new file mode 100644
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--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000284/rewards_dense.npz
@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000285/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000285/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed5aaa0768346c9d61ceb8f9247c94027e9098c9
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000285/ep_meta.json
@@ -0,0 +1,418 @@
+{
+  "layout_id": 19,
+  "style_id": 39,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_3",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_right"
+          ]
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+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "saucepan",
+          "receptacle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "saucepan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_17/model.xml"
+      },
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+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
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+    "wall_main_3_room": {
+      "cls": "Wall"
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+    "wall_main_3_backing_room": {
+      "cls": "Wall"
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+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
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+    "wall_right_1_backing_room": {
+      "cls": "Wall"
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+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "sink_left_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_left_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_3_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_3_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_1_3": {
+      "cls": "Drawer"
+    },
+    "cab_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "bottom_left_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "middle_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "middle_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "top_1_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_oven_left_group_1": {
+      "cls": "ToasterOven"
+    },
+    "counter_1_right_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_right_group_1": {
+      "cls": "Counter"
+    },
+    "box_1_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "dishwasher_1_right_group_1": {
+      "cls": "Dishwasher"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "box_2_right_group_1": {
+      "cls": "Box"
+    },
+    "cab_1_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "coffee_machine_right_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "paper_towel_right_group_1": {
+      "cls": "Accessory"
+    },
+    "counter_corner_1_main_group_3": {
+      "cls": "Counter"
+    },
+    "stove_main_group_3": {
+      "cls": "Stove"
+    },
+    "fridge_1_main_group_3": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridge_1_housing_main_group_3": {
+      "cls": "HousingCabinet"
+    },
+    "top_1_main_group_3": {
+      "cls": "HingeCabinet"
+    },
+    "cab_1_main_group_3": {
+      "cls": "OpenCabinet"
+    },
+    "microwave_main_group_3": {
+      "cls": "Microwave"
+    },
+    "cab_micro_main_group_3": {
+      "cls": "HingeCabinet"
+    },
+    "cab_corner_main_group_3": {
+      "cls": "Box"
+    },
+    "dining_dining_area_group": {
+      "cls": "Counter"
+    },
+    "box_dining_area_group": {
+      "cls": "Box"
+    },
+    "stack_1_dining_area_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_dining_area_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_dining_area_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_dining_area_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_dining_area_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_dining_area_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_dining_area_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_dining_area_group_4": {
+      "cls": "Drawer"
+    },
+    "stack_3_dining_area_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_dining_area_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_dining_area_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_dining_area_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_3_dining_area_group_4": {
+      "cls": "Drawer"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.1154182013775404,
+    -0.8328156126246838,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "rear_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000285/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000285/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..57072f7b8cbcca789864a0599c17106ea8dd43fc
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000285/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain100",
+  "source_episode_index": 26,
+  "source_demo_key": "demo_26",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000286/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000286/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1b6ee49d71aacad583d675994544b0db891f3f5
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000286/ep_meta.json
@@ -0,0 +1,503 @@
+{
+  "layout_id": 29,
+  "style_id": 30,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stovetop_left_group",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "rear_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "kettle_non_electric",
+          "receptacle",
+          "kettle",
+          "cookware"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "kettle_non_electric",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_2/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.29196154434359006,
+          0.12771406992180798,
+          0.019846137663032306
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "rear_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_4_room": {
+      "cls": "Wall"
+    },
+    "wall_left_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_room": {
+      "cls": "Wall"
+    },
+    "wall_left_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_room": {
+      "cls": "Wall"
+    },
+    "wall_left_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "light_switch_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_4_room": {
+      "cls": "Stool"
+    },
+    "bottom_main_group_base": {
+      "cls": "Box"
+    },
+    "bottom_main_group_1": {
+      "cls": "Drawer"
+    },
+    "oven_main_group": {
+      "cls": "Oven"
+    },
+    "oven_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "microwave_main_group": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "middle_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "top_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "fridge_main_group": {
+      "cls": "FridgeSideBySide"
+    },
+    "fridge_housing_main_group": {
+      "cls": "HousingCabinet"
+    },
+    "counter_1_main_group": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_3": {
+      "cls": "Drawer"
+    },
+    "dishwasher_main_group": {
+      "cls": "Dishwasher"
+    },
+    "panel_stack_main_group_base": {
+      "cls": "Box"
+    },
+    "panel_stack_main_group_1": {
+      "cls": "PanelCabinet"
+    },
+    "cab_1_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_4_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_5_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_6_main_group": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_oven_main_group": {
+      "cls": "ToasterOven"
+    },
+    "paper_towel_main_group": {
+      "cls": "Accessory"
+    },
+    "stovetop_left_group": {
+      "cls": "Stovetop"
+    },
+    "counter_1_left_group": {
+      "cls": "Counter"
+    },
+    "stack_1_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_3": {
+      "cls": "PanelCabinet"
+    },
+    "stack_4_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_left_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_5_left_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_left_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_5_left_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_left_group_3": {
+      "cls": "Drawer"
+    },
+    "hood_left_group": {
+      "cls": "Hood"
+    },
+    "cab_1_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_2_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "cab_4_left_group": {
+      "cls": "HingeCabinet"
+    },
+    "coffee_machine_left_group": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_left_group": {
+      "cls": "Toaster"
+    },
+    "sink_island_group": {
+      "cls": "Sink"
+    },
+    "island_island_group": {
+      "cls": "Counter"
+    },
+    "panel_box_1_island_group_base": {
+      "cls": "Box"
+    },
+    "panel_box_1_island_group_1": {
+      "cls": "PanelCabinet"
+    },
+    "stack_1_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_island_group_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_island_group_base": {
+      "cls": "Box"
+    },
+    "stack_5_island_group_1": {
+      "cls": "Drawer"
+    },
+    "stack_5_island_group_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_island_group_3": {
+      "cls": "Drawer"
+    },
+    "panel_cab_2_island_group_base": {
+      "cls": "Box"
+    },
+    "panel_cab_2_island_group_1": {
+      "cls": "PanelCabinet"
+    },
+    "box_island_group": {
+      "cls": "Box"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    0.14169979501991758,
+    -4.154139031895187,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    3.1415926193612504
+  ],
+  "task_refs": {
+    "knob": "rear_right",
+    "cookware_burner": "rear_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000286/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000286/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..2919e463b995d3f3467b9a11268db433a5f36ef5
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000286/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain100",
+  "source_episode_index": 27,
+  "source_demo_key": "demo_27",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain100",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000287/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000287/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6f7527a77aef166b7cdd30374fdaed9edf02fdb
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000287/ep_meta.json
@@ -0,0 +1,380 @@
+{
+  "layout_id": 14,
+  "style_id": 58,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stove_main_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_21/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.2916615216145007,
+          -0.15171985178784506,
+          0.45524094270582643
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_room": {
+      "cls": "Wall"
+    },
+    "wall_main_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_room": {
+      "cls": "Wall"
+    },
+    "wall_front_backing_room": {
+      "cls": "Wall"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wall_accessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "light_switch_room": {
+      "cls": "WallAccessory"
+    },
+    "wall_accessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_1_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_1_main_group_1": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_4_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "cab_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "micro_cab_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "paper_towel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_left_group_1": {
+      "cls": "Counter"
+    },
+    "fridge_left_group_1": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridge_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_1.002_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_left_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_left_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_left_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "box_1_left_group_1": {
+      "cls": "Box"
+    },
+    "cab_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "cab_2_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "cab_3_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "toaster_oven_left_group_1": {
+      "cls": "ToasterOven"
+    },
+    "knife_block_left_group_1": {
+      "cls": "Accessory"
+    },
+    "sink_1_island_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_island_group_1": {
+      "cls": "Counter"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "box_island_group_1": {
+      "cls": "Box"
+    },
+    "panel_stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "panel_stack_1_island_group_1_1": {
+      "cls": "PanelCabinet"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "dishwasher_island_group_1": {
+      "cls": "Dishwasher"
+    },
+    "panel_stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "panel_stack_2_island_group_1_1": {
+      "cls": "PanelCabinet"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the rear left burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.1154705308549864,
+    -0.8888097356794299,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "rear_left",
+    "cookware_burner": "front_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000287/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000287/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..34588c92543f1b5d03a143d8654ec5cbb6940faf
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000287/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain100",
+  "source_episode_index": 28,
+  "source_demo_key": "demo_28",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain100",
+  "is_success": false
+}
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000288/ep_meta.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000288/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ea860d3f2d3395ae3623aabb7d20138428aa504
--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000288/ep_meta.json
@@ -0,0 +1,566 @@
+{
+  "layout_id": 39,
+  "style_id": 42,
+  "object_cfgs": [
+    {
+      "name": "cookware",
+      "obj_groups": "cookware",
+      "placement": {
+        "fixture": "stovetop_island_group_1",
+        "ensure_object_boundary_in_range": false,
+        "sample_region_kwargs": {
+          "locs": [
+            "front_right"
+          ]
+        },
+        "size": [
+          0.02,
+          0.02
+        ],
+        "rotation": [
+          [
+            -1.1780972450961724,
+            -0.7853981633974483
+          ],
+          [
+            0.7853981633974483,
+            1.1780972450961724
+          ]
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pan",
+          "receptacle",
+          "cookware",
+          "pots_and_pans"
+        ],
+        "groups": [
+          "cookware"
+        ],
+        "cat": "pan",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_23/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          0.28980784601126575,
+          -0.01638620687767317,
+          0.022934635332920957
+        ],
+        "size": [
+          0.1,
+          0.1
+        ],
+        "name": "front_right"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_room": {
+      "cls": "Wall"
+    },
+    "wall_main_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_room": {
+      "cls": "Wall"
+    },
+    "wall_right_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_5_room": {
+      "cls": "Wall"
+    },
+    "wall_front_5_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_5_room": {
+      "cls": "Wall"
+    },
+    "wall_right_5_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_4_room": {
+      "cls": "Wall"
+    },
+    "wall_front_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_4_room": {
+      "cls": "Wall"
+    },
+    "wall_right_4_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_room": {
+      "cls": "Wall"
+    },
+    "wall_right_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_6_room": {
+      "cls": "Wall"
+    },
+    "wall_front_6_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_7_room": {
+      "cls": "Wall"
+    },
+    "wall_front_7_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_room": {
+      "cls": "Wall"
+    },
+    "wall_left_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_2_room": {
+      "cls": "Floor"
+    },
+    "floor_2_backing_room": {
+      "cls": "Floor"
+    },
+    "floor_3_room": {
+      "cls": "Floor"
+    },
+    "floor_3_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "lightswitch_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_5_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_6.001_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "sink_main_group_1": {
+      "cls": "Sink"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "fridgefrenchdoor_main_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_5_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_4_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_1_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "singlecabinet_3_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_4_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_1_main_group_1": {
+      "cls": "Box"
+    },
+    "stack_5_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_5_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_6_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_6_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_6_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_7_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_7_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_7_main_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "dishwasher_1_main_group_1": {
+      "cls": "Dishwasher"
+    },
+    "toaster_main_group_1": {
+      "cls": "Toaster"
+    },
+    "knifeblock_main_group_1": {
+      "cls": "Accessory"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "stovetop_island_group_1": {
+      "cls": "Stovetop"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_1_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_island_group_2.001_base": {
+      "cls": "Box"
+    },
+    "stack_5_island_group_2.001_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_5_island_group_2.001_2": {
+      "cls": "Drawer"
+    },
+    "stack_6_island_group_2.001_base": {
+      "cls": "Box"
+    },
+    "stack_6_island_group_2.001_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_6_island_group_2.001_2": {
+      "cls": "Drawer"
+    },
+    "stack_7_island_group_2.001_base": {
+      "cls": "Box"
+    },
+    "stack_7_island_group_2.001_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_7_island_group_2.001_2": {
+      "cls": "Drawer"
+    },
+    "stack_8_island_group_2.001_base": {
+      "cls": "Box"
+    },
+    "stack_8_island_group_2.001_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_8_island_group_2.001_2": {
+      "cls": "Drawer"
+    },
+    "counter_1_front_group_1": {
+      "cls": "Counter"
+    },
+    "hingecabinet_2_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_1_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_1_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_1_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_1_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_2_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_2_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_3_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_3_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_3_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_4_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_4_front_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_4_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_front_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_5_front_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_5_front_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_5_front_group_1_3": {
+      "cls": "Drawer"
+    },
+    "bottom_front_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_front_group_1_1": {
+      "cls": "Drawer"
+    },
+    "oven_front_group_1": {
+      "cls": "Oven"
+    },
+    "oven_housing_front_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "microwave_front_group_1": {
+      "cls": "Microwave"
+    },
+    "microwave_housing_front_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_front_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "coffeemachine_front_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_oven_front_group_1": {
+      "cls": "ToasterOven"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn off the front right burner of the stove.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    3.9826598832713977,
+    -3.6315087907924655,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    1.5707963267948966
+  ],
+  "task_refs": {
+    "knob": "front_right",
+    "cookware_burner": "front_right"
+  }
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000288/source.json b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000288/source.json
new file mode 100644
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--- /dev/null
+++ b/pretrain_atomic/TurnOffStove/lerobot/extras/episode_000288/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain100",
+  "source_episode_index": 29,
+  "source_demo_key": "demo_29",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOffStove/gr00tFMAtomicPosttrain100",
+  "is_success": false
+}
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