diff --git a/data/real-world/full-shot/README.md b/data/real-world/full-shot/README.md
deleted file mode 100644
index 72b1ddda5a58fe951309b9c632b61dc8855e46d7..0000000000000000000000000000000000000000
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-# 🟧 Real-World Full-Shot Training Data / 真机 Full-Shot 训练集
-
-[Dataset Card](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data#real-world) · [简体中文](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/README_zh.md#real-world) · [Download & Read](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data#download-and-reading)
-
-**20 tasks × 100 demonstrations per task = 2,000 episodes.** All episodes belong to the `train` split (`0:2000`).
-
-Expert demonstrations collected with the AgiBot Genie02 robot.
-
-| Content | Specification |
-| --- | --- |
-| Platform | AgiBot Genie02 |
-| Dataset format | LeRobot Dataset v3.0 |
-| Synchronized time steps | 1,534,321 |
-| Sampling rate | 30 FPS |
-| Total duration | 51,144.0 seconds · ≈14.21 hours |
-| Training payload size | 23,125,415,964 bytes · ≈23.13 GB |
-| Robot state | `observation.state`: `float32[290]` |
-| Robot action | `action`: `float32[52]` |
-| RGB cameras | Head: 640 × 400; left/right wrist: 640 × 528 each |
-| Camera videos | 6,000 · HEVC |
-
-This directory is an independent LeRobot dataset root. Set `root` to `data/real-world/full-shot` inside the downloaded snapshot. The [download and training examples](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data#download-and-reading) use LeRobot **0.4.2** and PyAV **15.1.0** and return states, actions, task instructions and three camera observations as PyTorch batches. Value or progress supervision is constructed by the training method.
-
-[Feature definitions](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/data/real-world/full-shot/meta/info.json) · [Shared trajectory contents and task descriptions](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data#real-world)
-
-<details>
-<summary><strong>Per-task episode allocation</strong></summary>
-
-| Task index | Display task | Episodes | Episode range / index | Data-row range [start, end) |
-| ---: | --- | ---: | --- | --- |
-| 0 | Transfer Blocks Using Plate | 100 | [0, 100) | [0, 57018) |
-| 1 | Enter Keypad Number Sequence | 100 | [100, 200) | [57018, 116432) |
-| 2 | Set the Table | 100 | [200, 300) | [116432, 216958) |
-| 3 | Arrange Seasoning Jars | 100 | [300, 400) | [216958, 273619) |
-| 4 | Load Plastic Plates Into Rack | 100 | [400, 500) | [273619, 335961) |
-| 5 | Press Button Five Times | 100 | [500, 600) | [335961, 385985) |
-| 6 | Place Pot On Induction Cooker | 100 | [600, 700) | [385985, 455845) |
-| 7 | Organize Desktop Workstation | 100 | [700, 800) | [455845, 543757) |
-| 8 | Organize Books And Pen | 100 | [800, 900) | [543757, 627278) |
-| 9 | Arrange Family Tea Set | 100 | [900, 1000) | [627278, 719790) |
-| 10 | Operate Drawers In Sequence | 100 | [1000, 1100) | [719790, 887196) |
-| 11 | Sort Blocks in Order | 100 | [1100, 1200) | [887196, 936710) |
-| 12 | Fill And Place Pen Holder | 100 | [1200, 1300) | [936710, 1012829) |
-| 13 | Organize Cosmetics Storage Box | 100 | [1300, 1400) | [1012829, 1100220) |
-| 14 | Strike Drum Five Times | 100 | [1400, 1500) | [1100220, 1141610) |
-| 15 | Apply Dish Soap Repeatedly | 100 | [1500, 1600) | [1141610, 1197495) |
-| 16 | Season Meat Skewers Repeatedly | 100 | [1600, 1700) | [1197495, 1276003) |
-| 17 | Pack Items For Shipping | 100 | [1700, 1800) | [1276003, 1347546) |
-| 18 | Arrange Flowers and Reed Diffuser | 100 | [1800, 1900) | [1347546, 1445636) |
-| 19 | Prepare Breakfast | 100 | [1900, 2000) | [1445636, 1534321) |
-
-</details>
-
-Task indices match `meta/tasks.parquet`. Source episode identifiers and task correspondence are recorded in `provenance/`. `checksums.sha256` provides file integrity hashes.
-
-**Publication authorization:** All data were authorized before public release.
-
-**Data revision:** `3bcf64ae6d2a39e0795f413b65bfd08a3a8c6f95`. Use this fixed revision with the download examples.
-
-## 中文
-
-**20 个任务 × 每任务 100 条 = 2,000 条轨迹**，共 **1,534,321 个同步时间步**，全部属于 `train` 划分（`0:2000`）。
-
-由 AgiBot Genie02 机器人采集的专家示范数据。
-
-平台为 **AgiBot Genie02**，采用 **LeRobot Dataset v3.0**，采样率为 **30 FPS**。状态为 `float32[290]`，动作为 `float32[52]`；三路 RGB 相机为头部：640 × 400；左腕、右腕：均为 640 × 528，共 **6,000 个原编码视频（HEVC）**。
-
-下载后，将 LeRobot 的 `root` 设置为快照中的 `data/real-world/full-shot`。主卡片的[下载与训练示例](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/README_zh.md#download-and-reading)提供状态、动作、任务指令与三路相机观测的 PyTorch batch；value 或 progress 监督由训练方法构造。
-
-折叠表列出任务索引、轨迹分配及数据行范围；原始来源标识与对应关系保留在 `provenance/`。
-
-**数据版本：**`3bcf64ae6d2a39e0795f413b65bfd08a3a8c6f95`，下载与读取时使用该固定版本。
-
-**发布授权：**全部数据均经授权后公开发布。
diff --git a/data/real-world/full-shot/checksums.sha256 b/data/real-world/full-shot/checksums.sha256
deleted file mode 100644
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@@ -1,8008 +0,0 @@
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deleted file mode 100644
index cb3a164a50164c821393920066835648a54eefa6..0000000000000000000000000000000000000000
--- a/data/real-world/full-shot/data/chunk-001/file-995.parquet
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@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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deleted file mode 100644
index d8dc02dbd438364135a61f0a9bb01d804ed5c2f2..0000000000000000000000000000000000000000
--- a/data/real-world/full-shot/data/chunk-001/file-996.parquet
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-version https://git-lfs.github.com/spec/v1
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-size 795817
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deleted file mode 100644
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--- a/data/real-world/full-shot/data/chunk-001/file-997.parquet
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-version https://git-lfs.github.com/spec/v1
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-size 794523
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-version https://git-lfs.github.com/spec/v1
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-version https://git-lfs.github.com/spec/v1
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diff --git a/data/real-world/full-shot/meta/info.json b/data/real-world/full-shot/meta/info.json
deleted file mode 100644
index 436dc3c461d2523fb4389b4e4fffbfa5d6b8678f..0000000000000000000000000000000000000000
--- a/data/real-world/full-shot/meta/info.json
+++ /dev/null
@@ -1,1043 +0,0 @@
-{
-  "codebase_version": "v3.0",
-  "robot_type": "G2A",
-  "chunks_size": 1000,
-  "data_files_size_in_mb": 100,
-  "video_files_size_in_mb": 200,
-  "fps": 30,
-  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
-  "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
-  "features": {
-    "episode_index": {
-      "dtype": "int64",
-      "shape": [
-        1
-      ],
-      "names": null
-    },
-    "frame_index": {
-      "dtype": "int64",
-      "shape": [
-        1
-      ],
-      "names": null
-    },
-    "index": {
-      "dtype": "int64",
-      "shape": [
-        1
-      ],
-      "names": null
-    },
-    "task_index": {
-      "dtype": "int64",
-      "shape": [
-        1
-      ],
-      "names": null
-    },
-    "action": {
-      "dtype": "float32",
-      "shape": [
-        52
-      ],
-      "field_descriptions": {
-        "action/left_effector/position": {
-          "description": "左执行器期望开度/行程值，夹爪需归一化处理",
-          "dimensions": 1,
-          "indices": [
-            0
-          ]
-        },
-        "action/right_effector/position": {
-          "description": "右执行器期望行程值/关节角度，夹爪需归一化处理",
-          "dimensions": 1,
-          "indices": [
-            1
-          ]
-        },
-        "action/end/position": {
-          "description": "手臂末端在 base_link 坐标系下的期望位置（m），shape (2,3)；来源为 action joint FK 计算（非遥操 wbc/retarget）",
-          "dimensions": 6,
-          "indices": [
-            2,
-            3,
-            4,
-            5,
-            6,
-            7
-          ]
-        },
-        "action/end/orientation": {
-          "description": "手臂末端在 base_link 坐标系下的期望朝向，四元数 XYZW，shape (2,4)",
-          "dimensions": 8,
-          "indices": [
-            8,
-            9,
-            10,
-            11,
-            12,
-            13,
-            14,
-            15
-          ]
-        },
-        "action/end/arm_position": {
-          "description": "手臂末端在 arm_base_link 坐标系下的期望位置（m），shape (2,3)",
-          "dimensions": 0,
-          "indices": []
-        },
-        "action/end/arm_orientation": {
-          "description": "手臂末端在 arm_base_link 坐标系下的期望朝向，四元数 XYZW，shape (2,4)",
-          "dimensions": 0,
-          "indices": []
-        },
-        "action/end/arm_redundancy": {
-          "description": "手臂冗余自由度（臂形角），8D pose 的第 7、8 维，shape (2,2)",
-          "dimensions": 0,
-          "indices": []
-        },
-        "action/joint/position": {
-          "description": "左右臂关节期望角度（弧度），来自 retarget 或 state 补帧",
-          "dimensions": 14,
-          "indices": [
-            16,
-            17,
-            18,
-            19,
-            20,
-            21,
-            22,
-            23,
-            24,
-            25,
-            26,
-            27,
-            28,
-            29
-          ]
-        },
-        "action/head/position": {
-          "description": "头部关节期望角度（弧度），G2 size of 3",
-          "dimensions": 3,
-          "indices": [
-            30,
-            31,
-            32
-          ]
-        },
-        "action/head_pose/position": {
-          "description": "基于 joint action FK 计算得到的头部 pose 位置，base_link 下 head_link3 坐标（m），size of 3",
-          "dimensions": 0,
-          "indices": []
-        },
-        "action/head_pose/orientation": {
-          "description": "基于 joint action FK 计算得到的头部 pose 朝向，四元数，size of 4",
-          "dimensions": 0,
-          "indices": []
-        },
-        "action/waist/position": {
-          "description": "腰部关节期望角度（弧度），G2 size of 5",
-          "dimensions": 5,
-          "indices": [
-            33,
-            34,
-            35,
-            36,
-            37
-          ]
-        },
-        "action/waist_pose/position": {
-          "description": "基于 joint action FK 计算得到的胸口 pose 位置，base_link 下 arm_base_link 坐标（m），size of 3",
-          "dimensions": 0,
-          "indices": []
-        },
-        "action/waist_pose/orientation": {
-          "description": "基于 joint action FK 计算得到的胸口 pose 朝向，四元数，size of 4",
-          "dimensions": 0,
-          "indices": []
-        },
-        "action/robot/velocity": {
-          "description": "底盘期望速度，1x6：XYZ 轴线速度 + XYZ 轴角速度",
-          "dimensions": 6,
-          "indices": [
-            38,
-            39,
-            40,
-            41,
-            42,
-            43
-          ]
-        },
-        "action/left_refpose/orientation": {
-          "description": "左手参考姿态四元数（大臂 arm_link3 相对 arm_base_link 的固定姿态）；原始映射 /wbc/retarget.retarget_groups[0].reference_frame_poses[0].orientation，按 (x,y,z,w)",
-          "dimensions": 4,
-          "indices": [
-            44,
-            45,
-            46,
-            47
-          ]
-        },
-        "action/right_refpose/orientation": {
-          "description": "右手参考姿态四元数；原始映射 /wbc/retarget.retarget_groups[1].reference_frame_poses[0].orientation，按 (x,y,z,w)",
-          "dimensions": 4,
-          "indices": [
-            48,
-            49,
-            50,
-            51
-          ]
-        }
-      },
-      "names": null
-    },
-    "observation.state": {
-      "dtype": "float32",
-      "shape": [
-        290
-      ],
-      "field_descriptions": {
-        "state/left_effector/position": {
-          "description": "左执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
-          "dimensions": 1,
-          "indices": [
-            0
-          ]
-        },
-        "state/right_effector/position": {
-          "description": "右执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
-          "dimensions": 1,
-          "indices": [
-            1
-          ]
-        },
-        "state/end/wrench": {
-          "description": "左右手臂末端六维力/力矩，1x24：左臂/右臂在机械臂末端坐标系下六维力（3轴力+3轴力矩）+ 左臂/右臂在执行器末端坐标系下六维力（当前实际值与机械臂末端坐标系一致）",
-          "dimensions": 24,
-          "indices": [
-            2,
-            3,
-            4,
-            5,
-            6,
-            7,
-            8,
-            9,
-            10,
-            11,
-            12,
-            13,
-            14,
-            15,
-            16,
-            17,
-            18,
-            19,
-            20,
-            21,
-            22,
-            23,
-            24,
-            25
-          ]
-        },
-        "state/end/position": {
-          "description": "手臂末端在 base_link 坐标系下的位置（m），shape (2,3)",
-          "dimensions": 6,
-          "indices": [
-            26,
-            27,
-            28,
-            29,
-            30,
-            31
-          ]
-        },
-        "state/end/velocity": {
-          "description": "左右手臂末端速度，1x24：左臂/右臂在机械臂末端坐标系下速度（3轴线速度+3轴角速度）+ 左臂/右臂在执行器末端坐标系下速度（当前实际值与机械臂末端坐标系一致）",
-          "dimensions": 24,
-          "indices": [
-            32,
-            33,
-            34,
-            35,
-            36,
-            37,
-            38,
-            39,
-            40,
-            41,
-            42,
-            43,
-            44,
-            45,
-            46,
-            47,
-            48,
-            49,
-            50,
-            51,
-            52,
-            53,
-            54,
-            55
-          ]
-        },
-        "state/end/orientation": {
-          "description": "手臂末端在 base_link 坐标系下的朝向，四元数 XYZW，shape (2,4)",
-          "dimensions": 8,
-          "indices": [
-            56,
-            57,
-            58,
-            59,
-            60,
-            61,
-            62,
-            63
-          ]
-        },
-        "state/end/arm_orientation": {
-          "description": "手臂末端在 arm_base_link 坐标系下的朝向，四元数 XYZW，shape (2,4)",
-          "dimensions": 8,
-          "indices": [
-            64,
-            65,
-            66,
-            67,
-            68,
-            69,
-            70,
-            71
-          ]
-        },
-        "state/end/arm_position": {
-          "description": "手臂末端在 arm_base_link 坐标系下的位置（m），shape (2,3)",
-          "dimensions": 6,
-          "indices": [
-            72,
-            73,
-            74,
-            75,
-            76,
-            77
-          ]
-        },
-        "state/end/pose": {
-          "description": "完整末端在 base_link 坐标系下的位姿，1x28：2（手臂末端与执行器末端）× 2（双臂）×（3平移+4旋转）",
-          "dimensions": 28,
-          "indices": [
-            78,
-            79,
-            80,
-            81,
-            82,
-            83,
-            84,
-            85,
-            86,
-            87,
-            88,
-            89,
-            90,
-            91,
-            92,
-            93,
-            94,
-            95,
-            96,
-            97,
-            98,
-            99,
-            100,
-            101,
-            102,
-            103,
-            104,
-            105
-          ]
-        },
-        "state/end/mode": {
-          "description": "手臂末端控制模式，size of 1",
-          "dimensions": 1,
-          "indices": [
-            106
-          ]
-        },
-        "state/end/errcode": {
-          "description": "手臂末端错误码，size of 1",
-          "dimensions": 1,
-          "indices": [
-            107
-          ]
-        },
-        "state/end/errmsg": {
-          "description": "手臂末端错误信息，size of 1",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/joint/position": {
-          "description": "左右臂关节角度（弧度），来自 aligned_joints.h5 state/joint/position，size of 14（l1-l7, r1-r7）",
-          "dimensions": 14,
-          "indices": [
-            108,
-            109,
-            110,
-            111,
-            112,
-            113,
-            114,
-            115,
-            116,
-            117,
-            118,
-            119,
-            120,
-            121
-          ]
-        },
-        "state/joint/current_value": {
-          "description": "左右臂关节电流值（A），来自 motor_states[:].current，size of 14",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/joint/effort": {
-          "description": "左右臂每个关节实际的力矩（Nm），size of 14",
-          "dimensions": 14,
-          "indices": [
-            122,
-            123,
-            124,
-            125,
-            126,
-            127,
-            128,
-            129,
-            130,
-            131,
-            132,
-            133,
-            134,
-            135
-          ]
-        },
-        "state/joint/velocity": {
-          "description": "左右臂关节速度（弧度/秒），size of 14",
-          "dimensions": 14,
-          "indices": [
-            136,
-            137,
-            138,
-            139,
-            140,
-            141,
-            142,
-            143,
-            144,
-            145,
-            146,
-            147,
-            148,
-            149
-          ]
-        },
-        "state/joint/mode": {
-          "description": "左右臂关节模式，0=位控，1=力控，size of 14",
-          "dimensions": 14,
-          "indices": [
-            150,
-            151,
-            152,
-            153,
-            154,
-            155,
-            156,
-            157,
-            158,
-            159,
-            160,
-            161,
-            162,
-            163
-          ]
-        },
-        "state/head/position": {
-          "description": "头部关节角度（弧度），G2 size of 3",
-          "dimensions": 3,
-          "indices": [
-            164,
-            165,
-            166
-          ]
-        },
-        "state/head/velocity": {
-          "description": "头部关节速度（弧度/秒）",
-          "dimensions": 3,
-          "indices": [
-            167,
-            168,
-            169
-          ]
-        },
-        "state/head/effort": {
-          "description": "头部关节力矩（Nm）",
-          "dimensions": 3,
-          "indices": [
-            170,
-            171,
-            172
-          ]
-        },
-        "state/head/mode": {
-          "description": "头部关节模式，size of 3",
-          "dimensions": 3,
-          "indices": [
-            173,
-            174,
-            175
-          ]
-        },
-        "state/head_pose/position": {
-          "description": "基于 base_link 的头部实际位置（m），size of 3",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/head_pose/orientation": {
-          "description": "基于 base_link 的头部实际朝向，四元数，size of 4",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/waist/position": {
-          "description": "腰部关节角度（弧度），G2 size of 5",
-          "dimensions": 5,
-          "indices": [
-            176,
-            177,
-            178,
-            179,
-            180
-          ]
-        },
-        "state/waist/velocity": {
-          "description": "腰部关节速度（弧度/秒）",
-          "dimensions": 5,
-          "indices": [
-            181,
-            182,
-            183,
-            184,
-            185
-          ]
-        },
-        "state/waist/effort": {
-          "description": "腰部关节力矩（Nm）",
-          "dimensions": 5,
-          "indices": [
-            186,
-            187,
-            188,
-            189,
-            190
-          ]
-        },
-        "state/waist/mode": {
-          "description": "腰部关节模式，size of 5",
-          "dimensions": 5,
-          "indices": [
-            191,
-            192,
-            193,
-            194,
-            195
-          ]
-        },
-        "state/waist_pose/position": {
-          "description": "基于 base_link 的腰部实际位置（m），size of 3",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/waist_pose/orientation": {
-          "description": "基于 base_link 的腰部实际朝向，四元数，size of 4",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/robot/position": {
-          "description": "机器人在 odom 坐标系下 base_link 的位置（m），size of 3（算法和使用方无需再做取逆操作）",
-          "dimensions": 3,
-          "indices": [
-            196,
-            197,
-            198
-          ]
-        },
-        "state/robot/orientation": {
-          "description": "机器人在 odom 坐标系下 base_link 的朝向，四元数，size of 4（算法和使用方无需再做取逆操作）",
-          "dimensions": 4,
-          "indices": [
-            199,
-            200,
-            201,
-            202
-          ]
-        },
-        "state/operator_event/action_src_status": {
-          "description": "动作来源状态，来源 /arbitrator/action_src.status；0=IDLE，1=TAKEOVER（接管，响应遥操 action），2=BACKWARD（回退），3=MODEL（推理）",
-          "dimensions": 1,
-          "indices": [
-            203
-          ]
-        },
-        "state/left_ee_force/controlled": {
-          "description": "左手触觉传感器是否处于受控状态",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/left_ee_force/rows": {
-          "description": "左手触觉传感器矩阵行数",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/left_ee_force/cols": {
-          "description": "左手触觉传感器矩阵列数",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/left_ee_force/resolution_x": {
-          "description": "左手触觉传感器 X 方向分辨率",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/left_ee_force/resolution_y": {
-          "description": "左手触觉传感器 Y 方向分辨率",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/left_ee_force/normal_force": {
-          "description": "左手触觉传感器法向力（N）",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/left_ee_force/shear_force_x": {
-          "description": "左手触觉传感器 X 方向剪切力（N）",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/left_ee_force/shear_force_y": {
-          "description": "左手触觉传感器 Y 方向剪切力（N）",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/left_ee_force/contact": {
-          "description": "左手触觉传感器接触状态",
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diff --git a/data/real-world/full-shot/meta/stats.json b/data/real-world/full-shot/meta/stats.json
deleted file mode 100644
index ea2bf3bd82d5e1ea8cfe543903c84dfb2aa141f1..0000000000000000000000000000000000000000
--- a/data/real-world/full-shot/meta/stats.json
+++ /dev/null
@@ -1,3569 +0,0 @@
-{
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diff --git a/data/real-world/full-shot/meta/tasks.parquet b/data/real-world/full-shot/meta/tasks.parquet
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index 014bb65e12507a3a5c624255fe3289c0c1c28c76..0000000000000000000000000000000000000000
--- a/data/real-world/full-shot/meta/tasks.parquet
+++ /dev/null
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diff --git a/data/real-world/full-shot/provenance/conversion.json b/data/real-world/full-shot/provenance/conversion.json
deleted file mode 100644
index 5fd7295f720c0bda1fc6a2afd55486823ada0550..0000000000000000000000000000000000000000
--- a/data/real-world/full-shot/provenance/conversion.json
+++ /dev/null
@@ -1,33 +0,0 @@
-{
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-  "camera_aliases": {
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-    "observation.images.top_head": "observation.images.cam_high"
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-    "spatial_subsampling": "integer stride toward 150 pixels on the longest side",
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-  "license": "published with permission",
-  "trimmed_rows": 0,
-  "tea_refresh": {
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diff --git a/data/real-world/full-shot/provenance/episode_mapping.json b/data/real-world/full-shot/provenance/episode_mapping.json
deleted file mode 100644
index 5958ceebb3892565b0261b0990ac3057f5a8ea35..0000000000000000000000000000000000000000
--- a/data/real-world/full-shot/provenance/episode_mapping.json
+++ /dev/null
@@ -1,22442 +0,0 @@
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diff --git a/data/real-world/one-shot/README.md b/data/real-world/one-shot/README.md
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-# 🟧 Real-World One-Shot Training Data / 真机 One-Shot 训练集
-
-[Dataset Card](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data#real-world) · [简体中文](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/README_zh.md#real-world) · [Download & Read](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data#download-and-reading)
-
-**20 tasks × 1 demonstration per task = 20 episodes.** All episodes belong to the `train` split (`0:20`).
-
-Expert demonstrations collected with the **AgiBot Genie02** robot. For 19 tasks, the selected trajectory has the **smallest original `episode_id` among the task's 100 Full-Shot source trajectories**. **Arrange Family Tea Set** uses **`52375079`**, the smallest original ID in the **27-episode tea refresh batch**. The original ID is recorded separately from the source conversion `episode_index` and the target episode index.
-
-| Content | Specification |
-| --- | --- |
-| Platform | AgiBot Genie02 |
-| Dataset format | LeRobot Dataset v3.0 |
-| Synchronized time steps | **16,362** |
-| Sampling rate | 30 FPS |
-| Total duration | 545.4 seconds · ≈9.09 minutes |
-| Training payload size | 215,642,018 bytes · ≈0.22 GB |
-| Robot state | `observation.state`: `float32[290]` |
-| Robot action | `action`: `float32[52]` |
-| RGB cameras | Head: 640 × 400; left/right wrist: 640 × 528 each |
-| Camera videos | 60 · HEVC |
-
-This directory is an independent LeRobot dataset root. Set `root` to `data/real-world/one-shot` inside the downloaded snapshot. The [download and training examples](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data#download-and-reading) use LeRobot **0.4.2** and PyAV **15.1.0** and return states, actions, task instructions and three camera observations as PyTorch batches. Value or progress supervision is constructed by the training method.
-
-[Feature definitions](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/data/real-world/one-shot/meta/info.json) · [Shared trajectory contents and task descriptions](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data#real-world) · [Machine-readable source IDs and row ranges](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/data/real-world/one-shot/provenance/episode_mapping.json)
-
-<details>
-<summary><strong>Original IDs and task–episode–row mapping</strong></summary>
-
-| Task / target episode | Task / source directory | Original episode_id | Source episode_index | Row range [start, end) |
-| ---: | --- | ---: | ---: | --- |
-| 0 | Transfer Blocks Using Plate<br>`task_16249` | 24903119 | 0 | [0, 695) |
-| 1 | Enter Keypad Number Sequence<br>`task_16360` | 24657466 | 1 | [695, 1,301) |
-| 2 | Set the Table<br>`task_16924` | 24862628 | 0 | [1,301, 2,249) |
-| 3 | Arrange Seasoning Jars<br>`task_18495` | 24904426 | 78 | [2,249, 2,764) |
-| 4 | Load Plastic Plates Into Rack<br>`task_18678` | 24904665 | 62 | [2,764, 3,324) |
-| 5 | Press Button Five Times<br>`task_18806` | 24355082 | 18 | [3,324, 3,827) |
-| 6 | Place Pot On Induction Cooker<br>`task_18838` | 24907412 | 99 | [3,827, 4,746) |
-| 7 | Organize Desktop Workstation<br>`task_18880` | 24862694 | 8 | [4,746, 5,728) |
-| 8 | Organize Books And Pen<br>`task_18943` | 24899073 | 0 | [5,728, 6,638) |
-| 9 | Arrange Family Tea Set<br>`task_172027` | 52375079 | 5 | [6,638, 7,596) |
-| 10 | Operate Drawers In Sequence<br>`task_19366` | 24659167 | 0 | [7,596, 9,172) |
-| 11 | Sort Blocks in Order<br>`task_20141` | 24903542 | 0 | [9,172, 9,822) |
-| 12 | Fill And Place Pen Holder<br>`task_21687` | 29886369 | 41 | [9,822, 10,572) |
-| 13 | Organize Cosmetics Storage Box<br>`task_23555` | 24903450 | 0 | [10,572, 11,582) |
-| 14 | Strike Drum Five Times<br>`task_30403` | 24448503 | 41 | [11,582, 12,016) |
-| 15 | Apply Dish Soap Repeatedly<br>`task_30419` | 24907810 | 99 | [12,016, 12,575) |
-| 16 | Season Meat Skewers Repeatedly<br>`task_30462` | 26304238 | 99 | [12,575, 13,423) |
-| 17 | Pack Items For Shipping<br>`task_31119` | 24903840 | 4 | [13,423, 14,163) |
-| 18 | Arrange Flowers and Reed Diffuser<br>`task_31913` | 24905589 | 99 | [14,163, 15,307) |
-| 19 | Prepare Breakfast<br>`task_37438` | 24903652 | 8 | [15,307, 16,362) |
-
-</details>
-
-Task indices match `meta/tasks.parquet`. Video streams retain their original bytes. Training payload size counts `data/`, `videos/`, `meta/`, and `provenance/`; it excludes this README and `checksums.sha256`. Time steps and duration are counted once per episode.
-
-**Publication authorization:** All data were authorized before public release.
-
-**Data revision:** `3bcf64ae6d2a39e0795f413b65bfd08a3a8c6f95`. Use this fixed revision with the download examples.
-
-## 中文
-
-**20 个任务 × 每任务 1 条 = 20 条轨迹**，共 **16,362 个同步时间步**，全部属于 `train` 划分（`0:20`）。
-
-由 **AgiBot Genie02** 机器人采集的专家示范数据。其余 19 个任务选择其 100 条 Full-Shot 源轨迹中**原始 `episode_id` 最小的一条**；**摆放家庭茶具**选择本次 **27 条茶席轨迹中原始 ID 最小的 `52375079`**。原始 ID、源转换 `episode_index` 与目标 episode 编号分别记录。
-
-采用 **LeRobot Dataset v3.0**，采样率为 **30 FPS**，总时长 **545.4 秒（约 9.09 分钟）**。训练数据大小为 **215,642,018 字节（约 0.22 GB）**。状态为 `float32[290]`，动作为 `float32[52]`；三路 RGB 相机为头部：640 × 400；左腕、右腕：均为 640 × 528，共 **60 个原编码视频（HEVC）**。
-
-下载后，将 LeRobot 的 `root` 设置为快照中的 `data/real-world/one-shot`。主卡片的[下载与训练示例](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/README_zh.md#download-and-reading)提供状态、动作、任务指令与三路相机观测的 PyTorch batch；value 或 progress 监督由训练方法构造。
-
-<details>
-<summary><strong>原始 ID 与任务—轨迹—行范围映射</strong></summary>
-
-| 任务 / 目标 episode | 任务 / 源任务目录 | 原始 episode_id | 源 episode_index | 行范围 [start, end) |
-| ---: | --- | ---: | ---: | --- |
-| 0 | 用盘子转移积木<br>`task_16249` | 24903119 | 0 | [0, 695) |
-| 1 | 输入键盘数字序列<br>`task_16360` | 24657466 | 1 | [695, 1,301) |
-| 2 | 摆放餐具<br>`task_16924` | 24862628 | 0 | [1,301, 2,249) |
-| 3 | 摆放调料罐<br>`task_18495` | 24904426 | 78 | [2,249, 2,764) |
-| 4 | 将塑料盘装入盘架<br>`task_18678` | 24904665 | 62 | [2,764, 3,324) |
-| 5 | 按按钮五次<br>`task_18806` | 24355082 | 18 | [3,324, 3,827) |
-| 6 | 将小锅放上电磁炉<br>`task_18838` | 24907412 | 99 | [3,827, 4,746) |
-| 7 | 整理桌面工作区<br>`task_18880` | 24862694 | 8 | [4,746, 5,728) |
-| 8 | 整理书本和笔<br>`task_18943` | 24899073 | 0 | [5,728, 6,638) |
-| 9 | 摆放家庭茶具<br>`task_172027` | 52375079 | 5 | [6,638, 7,596) |
-| 10 | 按顺序打开与关闭抽屉<br>`task_19366` | 24659167 | 0 | [7,596, 9,172) |
-| 11 | 按顺序摆放彩色积木<br>`task_20141` | 24903542 | 0 | [9,172, 9,822) |
-| 12 | 装填并摆放笔筒<br>`task_21687` | 29886369 | 41 | [9,822, 10,572) |
-| 13 | 整理化妆品收纳盒<br>`task_23555` | 24903450 | 0 | [10,572, 11,582) |
-| 14 | 敲鼓五次<br>`task_30403` | 24448503 | 41 | [11,582, 12,016) |
-| 15 | 反复按压洗洁精瓶<br>`task_30419` | 24907810 | 99 | [12,016, 12,575) |
-| 16 | 反复给肉串撒料<br>`task_30462` | 26304238 | 99 | [12,575, 13,423) |
-| 17 | 打包待寄送物品<br>`task_31119` | 24903840 | 4 | [13,423, 14,163) |
-| 18 | 插花与摆放藤条香薰<br>`task_31913` | 24905589 | 99 | [14,163, 15,307) |
-| 19 | 准备早餐<br>`task_37438` | 24903652 | 8 | [15,307, 16,362) |
-
-</details>
-
-视频保留原始字节。训练数据大小包含 `data/`、`videos/`、`meta/` 和 `provenance/`，不含本 README 与 `checksums.sha256`；时间步与时长按每条轨迹统计一次。
-
-**数据版本：**`3bcf64ae6d2a39e0795f413b65bfd08a3a8c6f95`，下载与读取时使用该固定版本。
-
-**发布授权：**全部数据均经授权后公开发布。
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-      "names": null
-    },
-    "index": {
-      "dtype": "int64",
-      "shape": [
-        1
-      ],
-      "names": null
-    },
-    "task_index": {
-      "dtype": "int64",
-      "shape": [
-        1
-      ],
-      "names": null
-    },
-    "action": {
-      "dtype": "float32",
-      "shape": [
-        52
-      ],
-      "field_descriptions": {
-        "action/left_effector/position": {
-          "description": "左执行器期望开度/行程值，夹爪需归一化处理",
-          "dimensions": 1,
-          "indices": [
-            0
-          ]
-        },
-        "action/right_effector/position": {
-          "description": "右执行器期望行程值/关节角度，夹爪需归一化处理",
-          "dimensions": 1,
-          "indices": [
-            1
-          ]
-        },
-        "action/end/position": {
-          "description": "手臂末端在 base_link 坐标系下的期望位置（m），shape (2,3)；来源为 action joint FK 计算（非遥操 wbc/retarget）",
-          "dimensions": 6,
-          "indices": [
-            2,
-            3,
-            4,
-            5,
-            6,
-            7
-          ]
-        },
-        "action/end/orientation": {
-          "description": "手臂末端在 base_link 坐标系下的期望朝向，四元数 XYZW，shape (2,4)",
-          "dimensions": 8,
-          "indices": [
-            8,
-            9,
-            10,
-            11,
-            12,
-            13,
-            14,
-            15
-          ]
-        },
-        "action/end/arm_position": {
-          "description": "手臂末端在 arm_base_link 坐标系下的期望位置（m），shape (2,3)",
-          "dimensions": 0,
-          "indices": []
-        },
-        "action/end/arm_orientation": {
-          "description": "手臂末端在 arm_base_link 坐标系下的期望朝向，四元数 XYZW，shape (2,4)",
-          "dimensions": 0,
-          "indices": []
-        },
-        "action/end/arm_redundancy": {
-          "description": "手臂冗余自由度（臂形角），8D pose 的第 7、8 维，shape (2,2)",
-          "dimensions": 0,
-          "indices": []
-        },
-        "action/joint/position": {
-          "description": "左右臂关节期望角度（弧度），来自 retarget 或 state 补帧",
-          "dimensions": 14,
-          "indices": [
-            16,
-            17,
-            18,
-            19,
-            20,
-            21,
-            22,
-            23,
-            24,
-            25,
-            26,
-            27,
-            28,
-            29
-          ]
-        },
-        "action/head/position": {
-          "description": "头部关节期望角度（弧度），G2 size of 3",
-          "dimensions": 3,
-          "indices": [
-            30,
-            31,
-            32
-          ]
-        },
-        "action/head_pose/position": {
-          "description": "基于 joint action FK 计算得到的头部 pose 位置，base_link 下 head_link3 坐标（m），size of 3",
-          "dimensions": 0,
-          "indices": []
-        },
-        "action/head_pose/orientation": {
-          "description": "基于 joint action FK 计算得到的头部 pose 朝向，四元数，size of 4",
-          "dimensions": 0,
-          "indices": []
-        },
-        "action/waist/position": {
-          "description": "腰部关节期望角度（弧度），G2 size of 5",
-          "dimensions": 5,
-          "indices": [
-            33,
-            34,
-            35,
-            36,
-            37
-          ]
-        },
-        "action/waist_pose/position": {
-          "description": "基于 joint action FK 计算得到的胸口 pose 位置，base_link 下 arm_base_link 坐标（m），size of 3",
-          "dimensions": 0,
-          "indices": []
-        },
-        "action/waist_pose/orientation": {
-          "description": "基于 joint action FK 计算得到的胸口 pose 朝向，四元数，size of 4",
-          "dimensions": 0,
-          "indices": []
-        },
-        "action/robot/velocity": {
-          "description": "底盘期望速度，1x6：XYZ 轴线速度 + XYZ 轴角速度",
-          "dimensions": 6,
-          "indices": [
-            38,
-            39,
-            40,
-            41,
-            42,
-            43
-          ]
-        },
-        "action/left_refpose/orientation": {
-          "description": "左手参考姿态四元数（大臂 arm_link3 相对 arm_base_link 的固定姿态）；原始映射 /wbc/retarget.retarget_groups[0].reference_frame_poses[0].orientation，按 (x,y,z,w)",
-          "dimensions": 4,
-          "indices": [
-            44,
-            45,
-            46,
-            47
-          ]
-        },
-        "action/right_refpose/orientation": {
-          "description": "右手参考姿态四元数；原始映射 /wbc/retarget.retarget_groups[1].reference_frame_poses[0].orientation，按 (x,y,z,w)",
-          "dimensions": 4,
-          "indices": [
-            48,
-            49,
-            50,
-            51
-          ]
-        }
-      }
-    },
-    "observation.state": {
-      "dtype": "float32",
-      "shape": [
-        290
-      ],
-      "field_descriptions": {
-        "state/left_effector/position": {
-          "description": "左执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
-          "dimensions": 1,
-          "indices": [
-            0
-          ]
-        },
-        "state/right_effector/position": {
-          "description": "右执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
-          "dimensions": 1,
-          "indices": [
-            1
-          ]
-        },
-        "state/end/wrench": {
-          "description": "左右手臂末端六维力/力矩，1x24：左臂/右臂在机械臂末端坐标系下六维力（3轴力+3轴力矩）+ 左臂/右臂在执行器末端坐标系下六维力（当前实际值与机械臂末端坐标系一致）",
-          "dimensions": 24,
-          "indices": [
-            2,
-            3,
-            4,
-            5,
-            6,
-            7,
-            8,
-            9,
-            10,
-            11,
-            12,
-            13,
-            14,
-            15,
-            16,
-            17,
-            18,
-            19,
-            20,
-            21,
-            22,
-            23,
-            24,
-            25
-          ]
-        },
-        "state/end/position": {
-          "description": "手臂末端在 base_link 坐标系下的位置（m），shape (2,3)",
-          "dimensions": 6,
-          "indices": [
-            26,
-            27,
-            28,
-            29,
-            30,
-            31
-          ]
-        },
-        "state/end/velocity": {
-          "description": "左右手臂末端速度，1x24：左臂/右臂在机械臂末端坐标系下速度（3轴线速度+3轴角速度）+ 左臂/右臂在执行器末端坐标系下速度（当前实际值与机械臂末端坐标系一致）",
-          "dimensions": 24,
-          "indices": [
-            32,
-            33,
-            34,
-            35,
-            36,
-            37,
-            38,
-            39,
-            40,
-            41,
-            42,
-            43,
-            44,
-            45,
-            46,
-            47,
-            48,
-            49,
-            50,
-            51,
-            52,
-            53,
-            54,
-            55
-          ]
-        },
-        "state/end/orientation": {
-          "description": "手臂末端在 base_link 坐标系下的朝向，四元数 XYZW，shape (2,4)",
-          "dimensions": 8,
-          "indices": [
-            56,
-            57,
-            58,
-            59,
-            60,
-            61,
-            62,
-            63
-          ]
-        },
-        "state/end/arm_orientation": {
-          "description": "手臂末端在 arm_base_link 坐标系下的朝向，四元数 XYZW，shape (2,4)",
-          "dimensions": 8,
-          "indices": [
-            64,
-            65,
-            66,
-            67,
-            68,
-            69,
-            70,
-            71
-          ]
-        },
-        "state/end/arm_position": {
-          "description": "手臂末端在 arm_base_link 坐标系下的位置（m），shape (2,3)",
-          "dimensions": 6,
-          "indices": [
-            72,
-            73,
-            74,
-            75,
-            76,
-            77
-          ]
-        },
-        "state/end/pose": {
-          "description": "完整末端在 base_link 坐标系下的位姿，1x28：2（手臂末端与执行器末端）× 2（双臂）×（3平移+4旋转）",
-          "dimensions": 28,
-          "indices": [
-            78,
-            79,
-            80,
-            81,
-            82,
-            83,
-            84,
-            85,
-            86,
-            87,
-            88,
-            89,
-            90,
-            91,
-            92,
-            93,
-            94,
-            95,
-            96,
-            97,
-            98,
-            99,
-            100,
-            101,
-            102,
-            103,
-            104,
-            105
-          ]
-        },
-        "state/end/mode": {
-          "description": "手臂末端控制模式，size of 1",
-          "dimensions": 1,
-          "indices": [
-            106
-          ]
-        },
-        "state/end/errcode": {
-          "description": "手臂末端错误码，size of 1",
-          "dimensions": 1,
-          "indices": [
-            107
-          ]
-        },
-        "state/end/errmsg": {
-          "description": "手臂末端错误信息，size of 1",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/joint/position": {
-          "description": "左右臂关节角度（弧度），来自 aligned_joints.h5 state/joint/position，size of 14（l1-l7, r1-r7）",
-          "dimensions": 14,
-          "indices": [
-            108,
-            109,
-            110,
-            111,
-            112,
-            113,
-            114,
-            115,
-            116,
-            117,
-            118,
-            119,
-            120,
-            121
-          ]
-        },
-        "state/joint/current_value": {
-          "description": "左右臂关节电流值（A），来自 motor_states[:].current，size of 14",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/joint/effort": {
-          "description": "左右臂每个关节实际的力矩（Nm），size of 14",
-          "dimensions": 14,
-          "indices": [
-            122,
-            123,
-            124,
-            125,
-            126,
-            127,
-            128,
-            129,
-            130,
-            131,
-            132,
-            133,
-            134,
-            135
-          ]
-        },
-        "state/joint/velocity": {
-          "description": "左右臂关节速度（弧度/秒），size of 14",
-          "dimensions": 14,
-          "indices": [
-            136,
-            137,
-            138,
-            139,
-            140,
-            141,
-            142,
-            143,
-            144,
-            145,
-            146,
-            147,
-            148,
-            149
-          ]
-        },
-        "state/joint/mode": {
-          "description": "左右臂关节模式，0=位控，1=力控，size of 14",
-          "dimensions": 14,
-          "indices": [
-            150,
-            151,
-            152,
-            153,
-            154,
-            155,
-            156,
-            157,
-            158,
-            159,
-            160,
-            161,
-            162,
-            163
-          ]
-        },
-        "state/head/position": {
-          "description": "头部关节角度（弧度），G2 size of 3",
-          "dimensions": 3,
-          "indices": [
-            164,
-            165,
-            166
-          ]
-        },
-        "state/head/velocity": {
-          "description": "头部关节速度（弧度/秒）",
-          "dimensions": 3,
-          "indices": [
-            167,
-            168,
-            169
-          ]
-        },
-        "state/head/effort": {
-          "description": "头部关节力矩（Nm）",
-          "dimensions": 3,
-          "indices": [
-            170,
-            171,
-            172
-          ]
-        },
-        "state/head/mode": {
-          "description": "头部关节模式，size of 3",
-          "dimensions": 3,
-          "indices": [
-            173,
-            174,
-            175
-          ]
-        },
-        "state/head_pose/position": {
-          "description": "基于 base_link 的头部实际位置（m），size of 3",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/head_pose/orientation": {
-          "description": "基于 base_link 的头部实际朝向，四元数，size of 4",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/waist/position": {
-          "description": "腰部关节角度（弧度），G2 size of 5",
-          "dimensions": 5,
-          "indices": [
-            176,
-            177,
-            178,
-            179,
-            180
-          ]
-        },
-        "state/waist/velocity": {
-          "description": "腰部关节速度（弧度/秒）",
-          "dimensions": 5,
-          "indices": [
-            181,
-            182,
-            183,
-            184,
-            185
-          ]
-        },
-        "state/waist/effort": {
-          "description": "腰部关节力矩（Nm）",
-          "dimensions": 5,
-          "indices": [
-            186,
-            187,
-            188,
-            189,
-            190
-          ]
-        },
-        "state/waist/mode": {
-          "description": "腰部关节模式，size of 5",
-          "dimensions": 5,
-          "indices": [
-            191,
-            192,
-            193,
-            194,
-            195
-          ]
-        },
-        "state/waist_pose/position": {
-          "description": "基于 base_link 的腰部实际位置（m），size of 3",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/waist_pose/orientation": {
-          "description": "基于 base_link 的腰部实际朝向，四元数，size of 4",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/robot/position": {
-          "description": "机器人在 odom 坐标系下 base_link 的位置（m），size of 3（算法和使用方无需再做取逆操作）",
-          "dimensions": 3,
-          "indices": [
-            196,
-            197,
-            198
-          ]
-        },
-        "state/robot/orientation": {
-          "description": "机器人在 odom 坐标系下 base_link 的朝向，四元数，size of 4（算法和使用方无需再做取逆操作）",
-          "dimensions": 4,
-          "indices": [
-            199,
-            200,
-            201,
-            202
-          ]
-        },
-        "state/operator_event/action_src_status": {
-          "description": "动作来源状态，来源 /arbitrator/action_src.status；0=IDLE，1=TAKEOVER（接管，响应遥操 action），2=BACKWARD（回退），3=MODEL（推理）",
-          "dimensions": 1,
-          "indices": [
-            203
-          ]
-        },
-        "state/left_ee_force/controlled": {
-          "description": "左手触觉传感器是否处于受控状态",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/left_ee_force/rows": {
-          "description": "左手触觉传感器矩阵行数",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/left_ee_force/cols": {
-          "description": "左手触觉传感器矩阵列数",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/left_ee_force/resolution_x": {
-          "description": "左手触觉传感器 X 方向分辨率",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/left_ee_force/resolution_y": {
-          "description": "左手触觉传感器 Y 方向分辨率",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/left_ee_force/normal_force": {
-          "description": "左手触觉传感器法向力（N）",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/left_ee_force/shear_force_x": {
-          "description": "左手触觉传感器 X 方向剪切力（N）",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/left_ee_force/shear_force_y": {
-          "description": "左手触觉传感器 Y 方向剪切力（N）",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/left_ee_force/contact": {
-          "description": "左手触觉传感器接触状态",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/left_ee_force/valid": {
-          "description": "左手触觉传感器数据有效标志",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/left_ee_force/err_code": {
-          "description": "左手触觉传感器错误码",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/right_ee_force/controlled": {
-          "description": "右手触觉传感器是否处于受控状态",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/right_ee_force/rows": {
-          "description": "右手触觉传感器矩阵行数",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/right_ee_force/cols": {
-          "description": "右手触觉传感器矩阵列数",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/right_ee_force/resolution_x": {
-          "description": "右手触觉传感器 X 方向分辨率",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/right_ee_force/resolution_y": {
-          "description": "右手触觉传感器 Y 方向分辨率",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/right_ee_force/normal_force": {
-          "description": "右手触觉传感器法向力（N）",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/right_ee_force/shear_force_x": {
-          "description": "右手触觉传感器 X 方向剪切力（N）",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/right_ee_force/shear_force_y": {
-          "description": "右手触觉传感器 Y 方向剪切力（N）",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/right_ee_force/contact": {
-          "description": "右手触觉传感器接触状态",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/right_ee_force/valid": {
-          "description": "右手触觉传感器数据有效标志",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/right_ee_force/err_code": {
-          "description": "右手触觉传感器错误码",
-          "dimensions": 0,
-          "indices": []
-        },
-        "state/left_vr_button/axis_click": {
-          "description": "左手 VR 手柄摇杆点击（int64），size of 1",
-          "dimensions": 1,
-          "indices": [
-            204
-          ]
-        },
-        "state/left_vr_button/axis_x": {
-          "description": "左手 VR 手柄摇杆 X 轴（float64），size of 1",
-          "dimensions": 1,
-          "indices": [
-            205
-          ]
-        },
-        "state/left_vr_button/axis_y": {
-          "description": "左手 VR 手柄摇杆 Y 轴（float64），size of 1",
-          "dimensions": 1,
-          "indices": [
-            206
-          ]
-        },
-        "state/left_vr_button/hand_trig": {
-          "description": "左手 VR 手柄侧键（float64），控制机械臂移动，size of 1",
-          "dimensions": 1,
-          "indices": [
-            207
-          ]
-        },
-        "state/left_vr_button/index_trig": {
-          "description": "左手 VR 手柄食指扳机键（float64），控制夹爪开合，size of 1",
-          "dimensions": 1,
-          "indices": [
-            208
-          ]
-        },
-        "state/left_vr_button/key_one": {
-          "description": "左手 VR 按键 X（int64），size of 1",
-          "dimensions": 1,
-          "indices": [
-            209
-          ]
-        },
-        "state/left_vr_button/key_two": {
-          "description": "左手 VR 按键 Y（int64），size of 1",
-          "dimensions": 1,
-          "indices": [
-            210
-          ]
-        },
-        "state/right_vr_button/axis_click": {
-          "description": "右手 VR 手柄摇杆点击（int64），size of 1",
-          "dimensions": 1,
-          "indices": [
-            211
-          ]
-        },
-        "state/right_vr_button/axis_x": {
-          "description": "右手 VR 手柄摇杆 X 轴（float64），size of 1",
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diff --git a/data/real-world/one-shot/meta/stats.json b/data/real-world/one-shot/meta/stats.json
deleted file mode 100644
index c06f029b370bdb9c3c217e83a6692e41e04e6583..0000000000000000000000000000000000000000
--- a/data/real-world/one-shot/meta/stats.json
+++ /dev/null
@@ -1,3569 +0,0 @@
-{
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diff --git a/data/real-world/one-shot/meta/tasks.parquet b/data/real-world/one-shot/meta/tasks.parquet
deleted file mode 100644
index 21849155bfdce5bf5adfe5dfb4dc3eee1d5f5ecc..0000000000000000000000000000000000000000
--- a/data/real-world/one-shot/meta/tasks.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2ab53e9fbea8cb4d77ab2189d4ee695bb39b4b28b59823706767266aad1be945
-size 5111
diff --git a/data/real-world/one-shot/provenance/conversion.json b/data/real-world/one-shot/provenance/conversion.json
deleted file mode 100644
index 2cb2e1e52f568081a75d8f2c3f7e9393ff5f73ce..0000000000000000000000000000000000000000
--- a/data/real-world/one-shot/provenance/conversion.json
+++ /dev/null
@@ -1,27 +0,0 @@
-{
-  "selection": "19 tasks retain minimum original IDs from their 100-episode sources; tea uses minimum original ID 52375079 from its approved new 27-episode batch",
-  "trimmed_rows": 0,
-  "video_processing": "original video bytes retained; no re-encoding",
-  "image_statistics": {
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-    "spatial_stride": 5
-  },
-  "format": "LeRobot v3.0",
-  "tabular_statistics": "LeRobot 0.4.2 aggregate_stats applied to exact per-episode numerical statistics; per-episode quantiles are count-weighted",
-  "public_release_authorized": true,
-  "license": "published with permission",
-  "previous_release_source_manifest_sha256": "a4965649d42fbac1ed1002cfa9b7f4c1d16b84261a2a3dd8b4ad1b53ab418381",
-  "previous_release_selection_sha256": "320e11f207f42cc02acc067584af145b1d1871e09a9cbf680aabd46314da585e",
-  "previous_release_new_complete_video_decodes": 42,
-  "previous_release_reused_complete_video_decodes": 18,
-  "tea_refresh": {
-    "date": "2026-10-21",
-    "source_dataset_id": 224282,
-    "source_task_id": 172027,
-    "replaced_episodes": 1,
-    "new_batch_episodes": 27,
-    "selection": "minimum original ID of the new 27-episode batch",
-    "no_trimming_padding_or_reencoding": true,
-    "source_manifest_sha256": "0817ff23698182080a32978d06c6236cd78dd70b73100dec477e1bcc3cae9a2c"
-  }
-}
diff --git a/data/real-world/one-shot/provenance/episode_mapping.json b/data/real-world/one-shot/provenance/episode_mapping.json
deleted file mode 100644
index e394a5829032da3ccc1c09efeb736937c56de488..0000000000000000000000000000000000000000
--- a/data/real-world/one-shot/provenance/episode_mapping.json
+++ /dev/null
@@ -1,587 +0,0 @@
-[
-  {
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-    "task_index": 0,
-    "source_task": "task_16249",
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-    "source_dataset_id": 145192,
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-    "source_data": "task_16249/data/chunk-000/file-000.parquet",
-    "source_videos": {
-      "observation.images.hand_left": "task_16249/videos/observation.images.hand_left/chunk-000/file-000.mp4",
-      "observation.images.hand_right": "task_16249/videos/observation.images.hand_right/chunk-000/file-000.mp4",
-      "observation.images.top_head": "task_16249/videos/observation.images.top_head/chunk-000/file-000.mp4"
-    },
-    "camera_aliases": {
-      "observation.images.hand_left": "observation.images.cam_left_wrist",
-      "observation.images.hand_right": "observation.images.cam_right_wrist",
-      "observation.images.top_head": "observation.images.cam_high"
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-    "length": 695,
-    "dataset_from_index": 0,
-    "dataset_to_index": 695,
-    "trimmed_rows": 0,
-    "task_instruction": "Put colored blocks in the bowl and pour",
-    "selection": "minimum original numeric episode_id among each task's 100 source episodes",
-    "replaced": false
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-  {
-    "episode_index": 17,
-    "task_index": 17,
-    "source_task": "task_31119",
-    "source_task_id": 31119,
-    "source_dataset_id": 145192,
-    "source_episode_index": 4,
-    "source_episode_id": 24903840,
-    "previous_source_episode_index": 0,
-    "previous_source_episode_id": 26213537,
-    "source_data": "task_31119/data/chunk-000/file-004.parquet",
-    "source_videos": {
-      "observation.images.hand_left": "task_31119/videos/observation.images.hand_left/chunk-000/file-004.mp4",
-      "observation.images.hand_right": "task_31119/videos/observation.images.hand_right/chunk-000/file-004.mp4",
-      "observation.images.top_head": "task_31119/videos/observation.images.top_head/chunk-000/file-004.mp4"
-    },
-    "camera_aliases": {
-      "observation.images.hand_left": "observation.images.cam_left_wrist",
-      "observation.images.hand_right": "observation.images.cam_right_wrist",
-      "observation.images.top_head": "observation.images.cam_high"
-    },
-    "length": 740,
-    "dataset_from_index": 13423,
-    "dataset_to_index": 14163,
-    "trimmed_rows": 0,
-    "task_instruction": "Logistics packaging",
-    "selection": "minimum original numeric episode_id among each task's 100 source episodes",
-    "replaced": true
-  },
-  {
-    "episode_index": 18,
-    "task_index": 18,
-    "source_task": "task_31913",
-    "source_task_id": 31913,
-    "source_dataset_id": 145192,
-    "source_episode_index": 99,
-    "source_episode_id": 24905589,
-    "previous_source_episode_index": 0,
-    "previous_source_episode_id": 26806650,
-    "source_data": "task_31913/data/chunk-000/file-099.parquet",
-    "source_videos": {
-      "observation.images.hand_left": "task_31913/videos/observation.images.hand_left/chunk-000/file-099.mp4",
-      "observation.images.hand_right": "task_31913/videos/observation.images.hand_right/chunk-000/file-099.mp4",
-      "observation.images.top_head": "task_31913/videos/observation.images.top_head/chunk-000/file-099.mp4"
-    },
-    "camera_aliases": {
-      "observation.images.hand_left": "observation.images.cam_left_wrist",
-      "observation.images.hand_right": "observation.images.cam_right_wrist",
-      "observation.images.top_head": "observation.images.cam_high"
-    },
-    "length": 1144,
-    "dataset_from_index": 14163,
-    "dataset_to_index": 15307,
-    "trimmed_rows": 0,
-    "task_instruction": "Floral arrangement and flameless aromatherapy placement",
-    "selection": "minimum original numeric episode_id among each task's 100 source episodes",
-    "replaced": true
-  },
-  {
-    "episode_index": 19,
-    "task_index": 19,
-    "source_task": "task_37438",
-    "source_task_id": 37438,
-    "source_dataset_id": 145192,
-    "source_episode_index": 8,
-    "source_episode_id": 24903652,
-    "previous_source_episode_index": 0,
-    "previous_source_episode_id": 25901763,
-    "source_data": "task_37438/data/chunk-000/file-008.parquet",
-    "source_videos": {
-      "observation.images.hand_left": "task_37438/videos/observation.images.hand_left/chunk-000/file-008.mp4",
-      "observation.images.hand_right": "task_37438/videos/observation.images.hand_right/chunk-000/file-008.mp4",
-      "observation.images.top_head": "task_37438/videos/observation.images.top_head/chunk-000/file-008.mp4"
-    },
-    "camera_aliases": {
-      "observation.images.hand_left": "observation.images.cam_left_wrist",
-      "observation.images.hand_right": "observation.images.cam_right_wrist",
-      "observation.images.top_head": "observation.images.cam_high"
-    },
-    "length": 1055,
-    "dataset_from_index": 15307,
-    "dataset_to_index": 16362,
-    "trimmed_rows": 0,
-    "task_instruction": "Prepare breakfast",
-    "selection": "minimum original numeric episode_id among each task's 100 source episodes",
-    "replaced": true
-  }
-]
diff --git a/data/real-world/one-shot/provenance/episodes.parquet b/data/real-world/one-shot/provenance/episodes.parquet
deleted file mode 100644
index 1628406822f12a829d5e0a90b38e6a570ff8f8d0..0000000000000000000000000000000000000000
--- a/data/real-world/one-shot/provenance/episodes.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c33db864188d6e5f0e327a2a202cbf01ecbbd77c34fb7ade0d93e82f0c538613
-size 4598
diff --git a/data/real-world/one-shot/provenance/source_episode_ids.csv b/data/real-world/one-shot/provenance/source_episode_ids.csv
deleted file mode 100644
index a65a7ca5d8f9f7a5ed44dbd35786acbea935af4a..0000000000000000000000000000000000000000
--- a/data/real-world/one-shot/provenance/source_episode_ids.csv
+++ /dev/null
@@ -1,21 +0,0 @@
-task_index,episode_index,source_dataset_id,source_task_id,source_episode_index,source_episode_id,length,dataset_from_index,dataset_to_index
-0,0,145192,16249,0,24903119,695,0,695
-1,1,145192,16360,1,24657466,606,695,1301
-2,2,145192,16924,0,24862628,948,1301,2249
-3,3,145192,18495,78,24904426,515,2249,2764
-4,4,145192,18678,62,24904665,560,2764,3324
-5,5,145192,18806,18,24355082,503,3324,3827
-6,6,145192,18838,99,24907412,919,3827,4746
-7,7,145192,18880,8,24862694,982,4746,5728
-8,8,145192,18943,0,24899073,910,5728,6638
-9,9,224282,172027,5,52375079,958,6638,7596
-10,10,145192,19366,0,24659167,1576,7596,9172
-11,11,145192,20141,0,24903542,650,9172,9822
-12,12,145192,21687,41,29886369,750,9822,10572
-13,13,145192,23555,0,24903450,1010,10572,11582
-14,14,145192,30403,41,24448503,434,11582,12016
-15,15,145192,30419,99,24907810,559,12016,12575
-16,16,145192,30462,99,26304238,848,12575,13423
-17,17,145192,31119,4,24903840,740,13423,14163
-18,18,145192,31913,99,24905589,1144,14163,15307
-19,19,145192,37438,8,24903652,1055,15307,16362
diff --git a/data/real-world/one-shot/provenance/source_episode_ids.md b/data/real-world/one-shot/provenance/source_episode_ids.md
deleted file mode 100644
index 02afb2598dfd5b10d2d46d8cccbc80867e9b20f3..0000000000000000000000000000000000000000
--- a/data/real-world/one-shot/provenance/source_episode_ids.md
+++ /dev/null
@@ -1,26 +0,0 @@
-# Original episode IDs
-
-| Task | Episode | Original ID | Source episode | Frames |
-|---:|---:|---:|---:|---:|
-| 0 | 0 | 24903119 | 0 | 695 |
-| 1 | 1 | 24657466 | 1 | 606 |
-| 2 | 2 | 24862628 | 0 | 948 |
-| 3 | 3 | 24904426 | 78 | 515 |
-| 4 | 4 | 24904665 | 62 | 560 |
-| 5 | 5 | 24355082 | 18 | 503 |
-| 6 | 6 | 24907412 | 99 | 919 |
-| 7 | 7 | 24862694 | 8 | 982 |
-| 8 | 8 | 24899073 | 0 | 910 |
-| 9 | 9 | 52375079 | 5 | 958 |
-| 10 | 10 | 24659167 | 0 | 1576 |
-| 11 | 11 | 24903542 | 0 | 650 |
-| 12 | 12 | 29886369 | 41 | 750 |
-| 13 | 13 | 24903450 | 0 | 1010 |
-| 14 | 14 | 24448503 | 41 | 434 |
-| 15 | 15 | 24907810 | 99 | 559 |
-| 16 | 16 | 26304238 | 99 | 848 |
-| 17 | 17 | 24903840 | 4 | 740 |
-| 18 | 18 | 24905589 | 99 | 1144 |
-| 19 | 19 | 24903652 | 8 | 1055 |
-
-Tea uses the minimum original ID of the approved new 27-episode batch (52375079). Other tasks retain their previous minimum-ID selections.
diff --git a/data/real-world/one-shot/provenance/tea-refresh-20261021.json b/data/real-world/one-shot/provenance/tea-refresh-20261021.json
deleted file mode 100644
index 63e2cf98db2f24fc38eda2a9abe145ef9c0a2151..0000000000000000000000000000000000000000
--- a/data/real-world/one-shot/provenance/tea-refresh-20261021.json
+++ /dev/null
@@ -1,24 +0,0 @@
-{
-  "schema_version": 1,
-  "source_dataset_id": 224282,
-  "source_task_id": 172027,
-  "replacement_rule": "minimum original ID of the new 27-episode batch",
-  "one_shot_selection_exception": true,
-  "replacements": [
-    {
-      "rank": 1,
-      "old_source_dataset_id": 145192,
-      "old_source_task_id": 19328,
-      "old_source_episode_id": 24906950,
-      "old_source_episode_index": 94,
-      "old_length": 1039,
-      "new_source_dataset_id": 224282,
-      "new_source_task_id": 172027,
-      "new_source_episode_id": 52375079,
-      "new_source_episode_index": 5,
-      "new_length": 958,
-      "target_task_index": 9,
-      "target_episode_index": 9
-    }
-  ]
-}
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diff --git a/data/simulation/full-shot/README.md b/data/simulation/full-shot/README.md
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-# 🟦 Simulation Full-Shot Training Data / 仿真 Full-Shot 训练集
-
-[Dataset Card](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data#simulation) · [简体中文](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/README_zh.md#simulation) · [Download & Read](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data#download-and-reading)
-
-**15 tasks × 100 demonstrations per task = 1,500 episodes.** All episodes belong to the `train` split (`0:1500`).
-
-Based on open-source [RoboDojo](https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo) data reviewed by our team, with selected demonstrations recorded again.
-
-| Content | Specification |
-| --- | --- |
-| Platform | ARX |
-| Dataset format | LeRobot Dataset v3.0 |
-| Synchronized time steps | 789,612 |
-| Sampling rate | 25 FPS |
-| Robot state | `observation.state`: `float32[14]` |
-| Robot action | `action`: `float32[14]` |
-| RGB cameras | High, left wrist, right wrist: 640 × 480 each |
-| Camera videos | 4,500 · AV1 / H.264 |
-
-This directory is an independent LeRobot dataset root. Set `root` to `data/simulation/full-shot` inside the downloaded snapshot. The [download and training examples](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data#download-and-reading) use LeRobot **0.4.2** and PyAV **15.1.0** and return states, actions, task instructions and three camera observations as PyTorch batches. Value or progress supervision is constructed by the training method.
-
-[Feature definitions](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/data/simulation/full-shot/meta/info.json) · [Shared trajectory contents and task descriptions](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data#simulation)
-
-<details>
-<summary><strong>Per-task episode allocation</strong></summary>
-
-| Task index | Source task key | Episodes | Episode range / index | Data-row range [start, end) |
-| ---: | --- | ---: | --- | --- |
-| 0 | `arrange_largest_number` | 100 | [0, 100) | [0, 58332) |
-| 1 | `fill_pen_holder` | 100 | [100, 200) | [58332, 128073) |
-| 2 | `fold_clothes` | 100 | [200, 300) | [128073, 158424) |
-| 3 | `hang_mugs` | 100 | [300, 400) | [158424, 208157) |
-| 4 | `insert_tubes` | 100 | [400, 500) | [208157, 240395) |
-| 5 | `make_toast` | 100 | [500, 600) | [240395, 299974) |
-| 6 | `organize_table` | 100 | [600, 700) | [299974, 355130) |
-| 7 | `pack_objects_into_box` | 100 | [700, 800) | [355130, 436549) |
-| 8 | `play_stacking_toy` | 100 | [800, 900) | [436549, 529154) |
-| 9 | `press_by_number` | 100 | [900, 1000) | [529154, 568074) |
-| 10 | `put_bottles_into_dustbin` | 100 | [1000, 1100) | [568074, 609854) |
-| 11 | `stack_blocks` | 100 | [1100, 1200) | [609854, 636404) |
-| 12 | `store_laptop_and_headphones` | 100 | [1200, 1300) | [636404, 688851) |
-| 13 | `swap_blocks` | 100 | [1300, 1400) | [688851, 732459) |
-| 14 | `sweep_blocks` | 100 | [1400, 1500) | [732459, 789612) |
-
-</details>
-
-Task indices match `meta/tasks.parquet`. Source episode identifiers and task correspondence are recorded in `provenance/`. `checksums.sha256` provides file integrity hashes.
-
-**Publication authorization:** All data were authorized before public release.
-
-## 中文
-
-**15 个任务 × 每任务 100 条 = 1,500 条轨迹**，共 **789,612 个同步时间步**，全部属于 `train` 划分（`0:1500`）。
-
-基于 [RoboDojo](https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo) 开源数据整理，经团队审核后，对部分示例重新采集。
-
-平台为 **ARX**，采用 **LeRobot Dataset v3.0**，采样率为 **25 FPS**。状态为 `float32[14]`，动作为 `float32[14]`；三路 RGB 相机为高位、左腕、右腕：均为 640 × 480，共 **4,500 个原编码视频（AV1 / H.264）**。
-
-下载后，将 LeRobot 的 `root` 设置为快照中的 `data/simulation/full-shot`。主卡片的[下载与训练示例](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/README_zh.md#download-and-reading)提供状态、动作、任务指令与三路相机观测的 PyTorch batch；value 或 progress 监督由训练方法构造。
-
-折叠表列出任务索引、轨迹分配及数据行范围；原始来源标识与对应关系保留在 `provenance/`。
-
-**发布授权：**全部数据均经授权后公开发布。
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index c089e6f989ef4c3e78993dc60a00fca6071c51b3..0000000000000000000000000000000000000000
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deleted file mode 100644
index 35df1a483977641ca2c873c597f62f38b3325abc..0000000000000000000000000000000000000000
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diff --git a/data/simulation/full-shot/provenance/conversion.json b/data/simulation/full-shot/provenance/conversion.json
deleted file mode 100644
index e9469da773b4fd1cacc8e9a750ce0c6388c07bdf..0000000000000000000000000000000000000000
--- a/data/simulation/full-shot/provenance/conversion.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
-  "format": "LeRobot Dataset v3.0",
-  "reference_repo": "RoboDojo-Benchmark/RoboDojo",
-  "source_collections": [
-    "1014_supp_data",
-    "1016_supp_data_part1",
-    "1016_supp_data_part2",
-    "RoboDojo"
-  ],
-  "video_codecs": [
-    "av1",
-    "h264"
-  ],
-  "upstream_reference_revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41",
-  "source_manifest_sha256": "8d8aec3f689230e3bbf2528f7279a1a2dfe69ad41c432cbd45022953c9630778",
-  "state_dimensions": 14,
-  "action_dimensions": 14,
-  "fps": 25,
-  "video_processing": "byte-identical copies; no re-encoding or fabricated frames",
-  "shard_occupancy": "one episode per data file and per camera video; v3.0 path templates",
-  "selection": "100 shortest preselected episodes per task; ties by source episode index",
-  "trimmed_rows": 8,
-  "trim_policy": "only the eight explicitly authorized unmatched final rows; full episode count preserved",
-  "video_intervals": "each camera references [0, retained_length/fps); unused original tail frames preserved",
-  "numeric_statistics": "exact global and per-episode statistics; population std; exact quantiles",
-  "image_statistics": {
-    "frames_per_episode": 32,
-    "uniform_sampling": true,
-    "spatial_stride": 5,
-    "range": [
-      0,
-      1
-    ],
-    "aggregation": "weighted pooled mean and variance"
-  },
-  "reference_reader": "official lerobot 0.4.2 with pyav 15.1.0; default tolerance 1e-4",
-  "excluded": [
-    "auxiliary",
-    "pickle",
-    "internal trace",
-    "private paths",
-    "original metadata attachments"
-  ]
-}
diff --git a/data/simulation/full-shot/provenance/episode_mapping.json b/data/simulation/full-shot/provenance/episode_mapping.json
deleted file mode 100644
index ed45ca6bfdea95ec7e5977e64341dcab38fe63c6..0000000000000000000000000000000000000000
--- a/data/simulation/full-shot/provenance/episode_mapping.json
+++ /dev/null
@@ -1,19502 +0,0 @@
-[
-  {
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-    "task_index": 0,
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-    "source_length": 375,
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-    "trimmed_last_rows": 0,
-    "deficit_camera": null,
-    "source_collection": "RoboDojo",
-    "supplemental_episode_index": null
-  },
-  {
-    "episode_index": 1,
-    "task_index": 0,
-    "source_task": "arrange_largest_number",
-    "source_episode_index": 1,
-    "upstream_episode_index": 28,
-    "source_length": 377,
-    "retained_length": 377,
-    "trimmed_last_rows": 0,
-    "deficit_camera": null,
-    "source_collection": "RoboDojo",
-    "supplemental_episode_index": null
-  },
-  {
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-    "task_index": 0,
-    "source_task": "arrange_largest_number",
-    "source_episode_index": 2,
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-    "source_length": 383,
-    "retained_length": 383,
-    "trimmed_last_rows": 0,
-    "deficit_camera": null,
-    "source_collection": "RoboDojo",
-    "supplemental_episode_index": null
-  },
-  {
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-    "source_episode_index": 3,
-    "upstream_episode_index": 9,
-    "source_length": 391,
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-    "trimmed_last_rows": 0,
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-    "source_collection": "RoboDojo",
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-  },
-  {
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-# 🟦 Simulation One-Shot Training Data / 仿真 One-Shot 训练集
-
-[Dataset Card](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data#simulation) · [简体中文](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/README_zh.md#simulation) · [Download & Read](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data#download-and-reading)
-
-**15 tasks × 1 demonstration per task = 15 episodes.** All episodes belong to the `train` split (`0:15`).
-
-Based on open-source [RoboDojo](https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo) data reviewed by our team, with selected demonstrations recorded again.
-
-| Content | Specification |
-| --- | --- |
-| Platform | ARX |
-| Dataset format | LeRobot Dataset v3.0 |
-| Synchronized time steps | 8,080 |
-| Sampling rate | 25 FPS |
-| Robot state | `observation.state`: `float32[14]` |
-| Robot action | `action`: `float32[14]` |
-| RGB cameras | High, left wrist, right wrist: 640 × 480 each |
-| Camera videos | 45 · AV1 |
-
-This directory is an independent LeRobot dataset root. Set `root` to `data/simulation/one-shot` inside the downloaded snapshot. The [download and training examples](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data#download-and-reading) use LeRobot **0.4.2** and PyAV **15.1.0** and return states, actions, task instructions and three camera observations as PyTorch batches. Value or progress supervision is constructed by the training method.
-
-[Feature definitions](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/data/simulation/one-shot/meta/info.json) · [Shared trajectory contents and task descriptions](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data#simulation)
-
-<details>
-<summary><strong>Task–episode–row mapping</strong></summary>
-
-| Task index | Source task key | Episodes | Episode range / index | Data-row range [start, end) |
-| ---: | --- | ---: | --- | --- |
-| 0 | `arrange_largest_number` | 1 | 0 | [0, 579) |
-| 1 | `fill_pen_holder` | 1 | 1 | [579, 1513) |
-| 2 | `fold_clothes` | 1 | 2 | [1513, 1814) |
-| 3 | `hang_mugs` | 1 | 3 | [1814, 2327) |
-| 4 | `insert_tubes` | 1 | 4 | [2327, 2647) |
-| 5 | `make_toast` | 1 | 5 | [2647, 3231) |
-| 6 | `organize_table` | 1 | 6 | [3231, 4070) |
-| 7 | `pack_objects_into_box` | 1 | 7 | [4070, 4484) |
-| 8 | `play_stacking_toy` | 1 | 8 | [4484, 5372) |
-| 9 | `press_by_number` | 1 | 9 | [5372, 5750) |
-| 10 | `put_bottles_into_dustbin` | 1 | 10 | [5750, 6113) |
-| 11 | `stack_blocks` | 1 | 11 | [6113, 6381) |
-| 12 | `store_laptop_and_headphones` | 1 | 12 | [6381, 6932) |
-| 13 | `swap_blocks` | 1 | 13 | [6932, 7377) |
-| 14 | `sweep_blocks` | 1 | 14 | [7377, 8080) |
-
-</details>
-
-Task indices match `meta/tasks.parquet`. Source episode identifiers and task correspondence are recorded in `provenance/`. `checksums.sha256` provides file integrity hashes.
-
-**Publication authorization:** All data were authorized before public release.
-
-## ☰ Subtask annotations
-
-[Supplementary subtask annotations](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/data/simulation/one-shot/annotations/subtasks/README.md) provide **58 paper-defined segments and 8,080 frame labels**, one active subtask per time step. Labels use `episode_index` and `frame_index`, with `global_index` matching the LeRobot `index`. Initial waiting is part of the first subtask, and the final subtask extends to the episode end. Segments use `[start_frame, end_frame)`; the included last frame is `end_frame - 1`.
-
-Read these files explicitly using PyArrow or `load_subtasks.py`; they are separate from the LeRobot samples and benchmark test-set labels. See the directory README for the fixed-revision download example and boundary adjustment mask. [`dataset_labeler`-compatible JSON](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/tree/7fd21cb2519b4d59cbe9fe8b23cfdf477e3ad145/data/simulation/one-shot/annotations/subtasks/dataset_labeler) uses the same subtasks and boundaries as the frame labels.
-
-## 中文
-
-**15 个任务 × 每任务 1 条 = 15 条轨迹**，共 **8,080 个同步时间步**，全部属于 `train` 划分（`0:15`）。
-
-基于 [RoboDojo](https://huggingface.co/datasets/RoboDojo-Benchmark/RoboDojo) 开源数据整理，经团队审核后，对部分示例重新采集。
-
-平台为 **ARX**，采用 **LeRobot Dataset v3.0**，采样率为 **25 FPS**。状态为 `float32[14]`，动作为 `float32[14]`；三路 RGB 相机为高位、左腕、右腕：均为 640 × 480，共 **45 个原编码视频（AV1）**。
-
-下载后，将 LeRobot 的 `root` 设置为快照中的 `data/simulation/one-shot`。主卡片的[下载与训练示例](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/README_zh.md#download-and-reading)提供状态、动作、任务指令与三路相机观测的 PyTorch batch；value 或 progress 监督由训练方法构造。
-
-折叠表列出任务索引、轨迹分配及数据行范围；原始来源标识与对应关系保留在 `provenance/`。
-
-**发布授权：**全部数据均经授权后公开发布。
-
-## ☰ 子任务标注
-
-[子任务标注](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/data/simulation/one-shot/annotations/subtasks/README.md)提供 **58 个论文子任务区间、8,080 条逐帧标签**，每个时间步一个当前子任务。使用 `episode_index` 与 `frame_index` 关联，并核对 `global_index` 与 LeRobot 的 `index` 一致。起始等待归入第一个子任务，最后一个子任务持续至轨迹末帧；区间为 `[start_frame, end_frame)`，包含式末帧为 `end_frame - 1`。
-
-通过 PyArrow 或 `load_subtasks.py` 显式读取。标注独立于 LeRobot sample，与评测集标签分开；目录 README 提供固定版本的下载示例及边界调整标记说明。 另提供 [`dataset_labeler` 兼容 JSON](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/tree/7fd21cb2519b4d59cbe9fe8b23cfdf477e3ad145/data/simulation/one-shot/annotations/subtasks/dataset_labeler)，与逐帧标签使用相同的子任务和边界。
-
diff --git a/data/simulation/one-shot/annotations/subtasks/README.md b/data/simulation/one-shot/annotations/subtasks/README.md
deleted file mode 100644
index be185787dbe56ad49b327199f56a4f7601e4d352..0000000000000000000000000000000000000000
--- a/data/simulation/one-shot/annotations/subtasks/README.md
+++ /dev/null
@@ -1,120 +0,0 @@
-# ☰ Simulation One-Shot Subtask Annotations / 仿真 One-Shot 子任务标注
-
-**15 tasks · 15 episodes · 58 subtask segments · 8,080 frame labels · 25 FPS**
-
-These supplementary annotations label the active semantic subtask in the simulation One-Shot **training demonstrations**. The English S1…Sn definitions follow [RoboValue, Appendix C.2](https://arxiv.org/abs/2610.26663); Chinese text is a translation. Each `(task_key, subtask_id)` pair has a unique `semantic_id`.
-
-## Label conventions / 标注约定
-
-| Item / 项目 | Convention / 约定 |
-| --- | --- |
-| Frame identity / 帧标识 | Zero-based `episode_index` and `frame_index`; `global_index` matches the LeRobot data row `index` / 从 0 开始，按整数索引关联 |
-| Segments / 区间 | `[start_frame, end_frame)` includes the start and excludes the end; `inclusive_end_frame = end_frame - 1` / 起始帧包含，末端不包含，包含式末帧等于结束值减 1 |
-| Time / 时间 | `timestamp_seconds = frame_index / 25`; one frame is **0.04 seconds** / 每帧 0.04 秒 |
-| Coverage / 覆盖 | One paper subtask per frame; initial waiting belongs to S1, and the final subtask extends to the last episode frame / 每帧一个论文子任务，起始等待并入 S1，最后一个子任务持续至轨迹末帧 |
-| Boundary bands / 边界调整带 | Typically ±13 frames (0.52 s); Organize Table S4 (keyboard) retains ±25 frames (1 s). `boundary_uncertain` marks these adjustment bands / 通常 ±13 帧，整理桌面的 S4 键盘步骤保留 ±25 帧，由该布尔字段标记 |
-
-Only paper subtasks are used; there are no idle, completed, or incomplete-task label classes. Boundary bands describe semantic annotation adjustment, independently of LeRobot's default video-loading tolerance of **0.0001 seconds**. They do not remove frames or change the labels.
-
-The accepted boundaries include frame **210** in Store Laptop And Headphones S2, frame **213** in Sweep Blocks S1, and frame **380** in Sweep Blocks S2. Press By Number S1 starts at frame **0** and follows the paper's printed S1–S4 definitions.
-
-这些标签用于仿真 One-Shot 训练示例，与论文评测集标签分开。仅使用论文子任务，没有空闲、任务已完成或任务未完成类别；边界调整带不改变默认视频加载容差，不删除帧。收纳笔记本电脑与耳机的 S2 包含第 **210 帧**；清扫积木的 S1 包含第 **213 帧**，S2 包含第 **380 帧**；按数字按钮的 S1 从第 **0 帧**开始。
-
-## Files / 文件
-
-| File / 文件 | Contents / 内容 |
-| --- | --- |
-| [taxonomy.json](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/7fd21cb2519b4d59cbe9fe8b23cfdf477e3ad145/data/simulation/one-shot/annotations/subtasks/taxonomy.json) | Paper subtask definitions and task IDs / 论文子任务定义与任务编号 |
-| [segments.json](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/7fd21cb2519b4d59cbe9fe8b23cfdf477e3ad145/data/simulation/one-shot/annotations/subtasks/segments.json), [segments.parquet](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/7fd21cb2519b4d59cbe9fe8b23cfdf477e3ad145/data/simulation/one-shot/annotations/subtasks/segments.parquet) | 58 labeled intervals / 58 个标注区间 |
-| [frame_labels.parquet](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/7fd21cb2519b4d59cbe9fe8b23cfdf477e3ad145/data/simulation/one-shot/annotations/subtasks/frame_labels.parquet) | 8,080 labels with integer join keys, text, and boundary mask / 逐帧标签、整数关联键、文本与边界标记 |
-| [metadata.json](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/7fd21cb2519b4d59cbe9fe8b23cfdf477e3ad145/data/simulation/one-shot/annotations/subtasks/metadata.json) | Dataset identity and annotation conventions / 数据身份与标注约定 |
-| [validation.json](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/7fd21cb2519b4d59cbe9fe8b23cfdf477e3ad145/data/simulation/one-shot/annotations/subtasks/validation.json) | Coverage, consistency, and accepted-boundary checks / 覆盖、一致性与已确认边界检查 |
-| [load_subtasks.py](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/7fd21cb2519b4d59cbe9fe8b23cfdf477e3ad145/data/simulation/one-shot/annotations/subtasks/load_subtasks.py) | Explicit loading, SHA256 validation, and sample lookup / 显式读取、SHA256 校验与帧查询 |
-| [dataset_labeler/](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/tree/7fd21cb2519b4d59cbe9fe8b23cfdf477e3ad145/data/simulation/one-shot/annotations/subtasks/dataset_labeler) | 15 task-level SIA+CSPC JSON files and a Transfer all boundary export / 15 个任务级兼容 JSON 与 Transfer all 边界点导出 |
-| [manifest.json](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/7fd21cb2519b4d59cbe9fe8b23cfdf477e3ad145/data/simulation/one-shot/annotations/subtasks/manifest.json) | SHA256 and byte size of the 23 annotation payload files; the manifest is not self-hashed / 23 个标注文件的校验值与字节数，清单不校验自身 |
-
-## Download and read / 下载与读取
-
-This example downloads **only the annotation directory** at a fixed revision. It requires `huggingface_hub` and `pyarrow` (also installed with LeRobot).
-
-以下示例只下载固定版本的标注目录，不下载视频。需要 `huggingface_hub` 与 `pyarrow`，LeRobot 环境已包含这两个依赖。
-
-```python
-import importlib.util
-import os
-from pathlib import Path
-
-from huggingface_hub import snapshot_download
-
-repo_id = "wzlllong/value-model-benchmark-training-data"
-prefix = "data/simulation/one-shot"
-revision = "7fd21cb2519b4d59cbe9fe8b23cfdf477e3ad145"
-local_dir = Path(os.environ.get("ROBOVALUE_LOCAL_DIR", "./robovalue-data"))
-snapshot = snapshot_download(
-    repo_id=repo_id,
-    repo_type="dataset",
-    revision=revision,
-    allow_patterns=[f"{prefix}/annotations/subtasks/**"],
-    local_dir=local_dir,
-)
-root = Path(snapshot) / prefix
-spec = importlib.util.spec_from_file_location(
-    "robovalue_subtasks", root / "annotations/subtasks/load_subtasks.py"
-)
-module = importlib.util.module_from_spec(spec)
-spec.loader.exec_module(module)
-annotations = module.load_subtasks(root)
-label = annotations.label(episode_index=0, frame_index=0, global_index=0)
-print(annotations.table.num_rows, label["semantic_id"], label["subtask_text_en"])
-```
-
-With the matching LeRobot simulation One-Shot dataset loaded as `dataset`, use `label = annotations.for_sample(dataset[0])`. The helper checks the episode/frame keys and verifies `global_index` against the sample's `index`. For PyArrow, join on `episode_index` and `frame_index` and make the same index check. Attach labels before PyTorch batch collation when your training method needs them; LeRobot does not automatically include annotation files in samples.
-
-读取同一版本的仿真 One-Shot LeRobot 数据后，使用 `label = annotations.for_sample(dataset[0])` 关联标签；该方法检查轨迹与帧编号，并核对全局数据行索引。训练需要子任务标签时，在 PyTorch batch 合并前显式关联。
-
-## dataset_labeler-compatible JSON / 兼容标注格式
-
-The [15 task-level JSON files](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/tree/7fd21cb2519b4d59cbe9fe8b23cfdf477e3ad145/data/simulation/one-shot/annotations/subtasks/dataset_labeler) retain the `dataset_labeler` SIA+CSPC record format. Each `<task_key>_sia_cspc_annotations.json` maps a **dataset-root-relative head-camera video path** to one annotation record. `task_key` is the canonical simulation task name, including `sweep_blocks`. Resolve a video key against the local simulation One-Shot dataset root when relocating the files.
-
-[15 个任务级 JSON 文件](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/tree/7fd21cb2519b4d59cbe9fe8b23cfdf477e3ad145/data/simulation/one-shot/annotations/subtasks/dataset_labeler)保持 `dataset_labeler` 的 SIA+CSPC 记录格式；每个 `<task_key>_sia_cspc_annotations.json` 以**相对仿真 One-Shot 数据根目录的头部相机视频路径**为键，对应一条轨迹记录。任务名使用发布数据的统一名称，包括 `sweep_blocks`；移动数据后，由读取者将相对路径与本地数据根目录拼接。
-
-| Field / 字段 | Meaning / 含义 |
-| --- | --- |
-| `episode` | The same dataset-root-relative video path as the object key / 与外层键相同的数据根目录相对视频路径 |
-| `marks` | Ordered `{"type": "s", "frame": integer, "time": seconds}` boundary points / 按顺序排列的子任务边界点 |
-| `duration` | Episode duration in seconds / 轨迹时长，单位秒 |
-| `task` | Canonical simulation task name / 统一仿真任务名 |
-| `metric`, `group` | `SIA+CSPC`, `one-shot` |
-| `episode_name` | Published target episode name, e.g. `episode_000000` / 发布的目标轨迹名称 |
-| `gap` | Preserved labeler-format parameter: `20` / 保留的标注工具格式参数，值为 20 |
-
-`marks` contains frame **0**, every segment's exclusive `end_frame`, and the episode-length terminal point. For **N** subtasks there are **N + 1** points; consecutive points recover `[start_frame, end_frame)` intervals in S1…Sn order. The terminal point closes the last interval and does not create a completed-task label. `time = frame / 25`. The accepted boundaries are unchanged: Store Laptop And Headphones uses **[0, 111, 211, 551]** and Sweep Blocks uses **[0, 214, 381, 703]**. Their inclusive last frames remain **210**, **213**, and **380**.
-
-`marks` 包含第 **0 帧**、各区间的半开结束点，以及等于轨迹帧数的末端点。**N** 个子任务对应 **N + 1** 个边界点，相邻点按 S1…Sn 顺序还原 `[start_frame, end_frame)` 区间；末端点仅闭合最后一个子任务，不增加“任务已完成”标签。`time = frame / 25`。已确认的标签和边界均保持不变。
-
-[`exceptional_intervals.json`](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/7fd21cb2519b4d59cbe9fe8b23cfdf477e3ad145/data/simulation/one-shot/annotations/subtasks/dataset_labeler/exceptional_intervals.json) follows the labeler's **Transfer all** output: a list of **15** `{"episode": video_path, "frames": boundary_points}` records containing **73 boundary points**. Those points close the same **58 intervals**; they are not additional subtask labels. The JSON export, `segments.json`, and `frame_labels.parquet` describe the same **58 segments / 8,080 labels**. This is a portable format export for these training demonstrations; the integer-keyed Parquet files and helper remain available for explicit training-label joins.
-
-[`exceptional_intervals.json`](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/7fd21cb2519b4d59cbe9fe8b23cfdf477e3ad145/data/simulation/one-shot/annotations/subtasks/dataset_labeler/exceptional_intervals.json)保持标注工具 **Transfer all** 的列表格式，每条记录为 `{"episode": 视频路径, "frames": 边界点列表}`。共 **15 条轨迹、73 个边界点**，对应相同的 **58 个子任务区间、8,080 条逐帧标签**；边界点不增加标签类别。用于训练时仍可通过整数索引和原读取工具显式关联标签。
-
-After the annotation-only download example above, read the compatibility JSON locally without downloading videos:
-
-运行上方仅下载标注的示例后，可在本地读取兼容 JSON；以下代码不下载或解码视频。
-
-```python
-import json
-
-labeler_dir = root / "annotations/subtasks/dataset_labeler"
-task_file = sorted(labeler_dir.glob("*_sia_cspc_annotations.json"))[0]
-by_video = json.loads(task_file.read_text(encoding="utf-8"))
-video_path, record = next(iter(by_video.items()))
-points = record["marks"]
-intervals = [
-    {"subtask_id": f"S{i + 1}", "start_frame": left["frame"],
-     "end_frame": right["frame"]}
-    for i, (left, right) in enumerate(zip(points, points[1:]))
-]
-assert intervals[0]["start_frame"] == 0
-assert all(part["start_frame"] < part["end_frame"] for part in intervals)
-print(record["episode_name"], video_path, intervals)
-# Video location, when the training payload is present: root / video_path
-```
diff --git a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/arrange_largest_number_sia_cspc_annotations.json b/data/simulation/one-shot/annotations/subtasks/dataset_labeler/arrange_largest_number_sia_cspc_annotations.json
deleted file mode 100644
index 7df5502a2ffb19fa70afd28e8d6577550c5c4bd7..0000000000000000000000000000000000000000
--- a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/arrange_largest_number_sia_cspc_annotations.json
+++ /dev/null
@@ -1,38 +0,0 @@
-{
-  "videos/observation.images.cam_high/chunk-000/file-000.mp4": {
-    "episode": "videos/observation.images.cam_high/chunk-000/file-000.mp4",
-    "marks": [
-      {
-        "type": "s",
-        "frame": 0,
-        "time": 0.0
-      },
-      {
-        "type": "s",
-        "frame": 104,
-        "time": 4.16
-      },
-      {
-        "type": "s",
-        "frame": 280,
-        "time": 11.2
-      },
-      {
-        "type": "s",
-        "frame": 384,
-        "time": 15.36
-      },
-      {
-        "type": "s",
-        "frame": 579,
-        "time": 23.16
-      }
-    ],
-    "duration": 23.16,
-    "task": "arrange_largest_number",
-    "metric": "SIA+CSPC",
-    "group": "one-shot",
-    "episode_name": "episode_000000",
-    "gap": 20
-  }
-}
diff --git a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/exceptional_intervals.json b/data/simulation/one-shot/annotations/subtasks/dataset_labeler/exceptional_intervals.json
deleted file mode 100644
index ed224c9524631f05cdf0853198cf0cf7dab5a58d..0000000000000000000000000000000000000000
--- a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/exceptional_intervals.json
+++ /dev/null
@@ -1,150 +0,0 @@
-[
-  {
-    "episode": "videos/observation.images.cam_high/chunk-000/file-000.mp4",
-    "frames": [
-      0,
-      104,
-      280,
-      384,
-      579
-    ]
-  },
-  {
-    "episode": "videos/observation.images.cam_high/chunk-000/file-001.mp4",
-    "frames": [
-      0,
-      123,
-      331,
-      526,
-      709,
-      845,
-      934
-    ]
-  },
-  {
-    "episode": "videos/observation.images.cam_high/chunk-000/file-002.mp4",
-    "frames": [
-      0,
-      103,
-      208,
-      301
-    ]
-  },
-  {
-    "episode": "videos/observation.images.cam_high/chunk-000/file-003.mp4",
-    "frames": [
-      0,
-      190,
-      331,
-      513
-    ]
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diff --git a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/fill_pen_holder_sia_cspc_annotations.json b/data/simulation/one-shot/annotations/subtasks/dataset_labeler/fill_pen_holder_sia_cspc_annotations.json
deleted file mode 100644
index 0e4b930561d3a14a13cade3d9297961121eff9a1..0000000000000000000000000000000000000000
--- a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/fill_pen_holder_sia_cspc_annotations.json
+++ /dev/null
@@ -1,48 +0,0 @@
-{
-  "videos/observation.images.cam_high/chunk-000/file-001.mp4": {
-    "episode": "videos/observation.images.cam_high/chunk-000/file-001.mp4",
-    "marks": [
-      {
-        "type": "s",
-        "frame": 0,
-        "time": 0.0
-      },
-      {
-        "type": "s",
-        "frame": 123,
-        "time": 4.92
-      },
-      {
-        "type": "s",
-        "frame": 331,
-        "time": 13.24
-      },
-      {
-        "type": "s",
-        "frame": 526,
-        "time": 21.04
-      },
-      {
-        "type": "s",
-        "frame": 709,
-        "time": 28.36
-      },
-      {
-        "type": "s",
-        "frame": 845,
-        "time": 33.8
-      },
-      {
-        "type": "s",
-        "frame": 934,
-        "time": 37.36
-      }
-    ],
-    "duration": 37.36,
-    "task": "fill_pen_holder",
-    "metric": "SIA+CSPC",
-    "group": "one-shot",
-    "episode_name": "episode_000001",
-    "gap": 20
-  }
-}
diff --git a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/fold_clothes_sia_cspc_annotations.json b/data/simulation/one-shot/annotations/subtasks/dataset_labeler/fold_clothes_sia_cspc_annotations.json
deleted file mode 100644
index 030c44ef8f00e172ed4c6153b493d4f62a03217c..0000000000000000000000000000000000000000
--- a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/fold_clothes_sia_cspc_annotations.json
+++ /dev/null
@@ -1,33 +0,0 @@
-{
-  "videos/observation.images.cam_high/chunk-000/file-002.mp4": {
-    "episode": "videos/observation.images.cam_high/chunk-000/file-002.mp4",
-    "marks": [
-      {
-        "type": "s",
-        "frame": 0,
-        "time": 0.0
-      },
-      {
-        "type": "s",
-        "frame": 103,
-        "time": 4.12
-      },
-      {
-        "type": "s",
-        "frame": 208,
-        "time": 8.32
-      },
-      {
-        "type": "s",
-        "frame": 301,
-        "time": 12.04
-      }
-    ],
-    "duration": 12.04,
-    "task": "fold_clothes",
-    "metric": "SIA+CSPC",
-    "group": "one-shot",
-    "episode_name": "episode_000002",
-    "gap": 20
-  }
-}
diff --git a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/hang_mugs_sia_cspc_annotations.json b/data/simulation/one-shot/annotations/subtasks/dataset_labeler/hang_mugs_sia_cspc_annotations.json
deleted file mode 100644
index 753d355f91406031164b603339b9994968cd67ca..0000000000000000000000000000000000000000
--- a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/hang_mugs_sia_cspc_annotations.json
+++ /dev/null
@@ -1,33 +0,0 @@
-{
-  "videos/observation.images.cam_high/chunk-000/file-003.mp4": {
-    "episode": "videos/observation.images.cam_high/chunk-000/file-003.mp4",
-    "marks": [
-      {
-        "type": "s",
-        "frame": 0,
-        "time": 0.0
-      },
-      {
-        "type": "s",
-        "frame": 190,
-        "time": 7.6
-      },
-      {
-        "type": "s",
-        "frame": 331,
-        "time": 13.24
-      },
-      {
-        "type": "s",
-        "frame": 513,
-        "time": 20.52
-      }
-    ],
-    "duration": 20.52,
-    "task": "hang_mugs",
-    "metric": "SIA+CSPC",
-    "group": "one-shot",
-    "episode_name": "episode_000003",
-    "gap": 20
-  }
-}
diff --git a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/insert_tubes_sia_cspc_annotations.json b/data/simulation/one-shot/annotations/subtasks/dataset_labeler/insert_tubes_sia_cspc_annotations.json
deleted file mode 100644
index e14b99ee459f40b43cf46528738966aa76715bac..0000000000000000000000000000000000000000
--- a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/insert_tubes_sia_cspc_annotations.json
+++ /dev/null
@@ -1,33 +0,0 @@
-{
-  "videos/observation.images.cam_high/chunk-000/file-004.mp4": {
-    "episode": "videos/observation.images.cam_high/chunk-000/file-004.mp4",
-    "marks": [
-      {
-        "type": "s",
-        "frame": 0,
-        "time": 0.0
-      },
-      {
-        "type": "s",
-        "frame": 110,
-        "time": 4.4
-      },
-      {
-        "type": "s",
-        "frame": 208,
-        "time": 8.32
-      },
-      {
-        "type": "s",
-        "frame": 320,
-        "time": 12.8
-      }
-    ],
-    "duration": 12.8,
-    "task": "insert_tubes",
-    "metric": "SIA+CSPC",
-    "group": "one-shot",
-    "episode_name": "episode_000004",
-    "gap": 20
-  }
-}
diff --git a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/make_toast_sia_cspc_annotations.json b/data/simulation/one-shot/annotations/subtasks/dataset_labeler/make_toast_sia_cspc_annotations.json
deleted file mode 100644
index f790d6c2cc665155917a27f221a9fa51a09618d6..0000000000000000000000000000000000000000
--- a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/make_toast_sia_cspc_annotations.json
+++ /dev/null
@@ -1,33 +0,0 @@
-{
-  "videos/observation.images.cam_high/chunk-000/file-005.mp4": {
-    "episode": "videos/observation.images.cam_high/chunk-000/file-005.mp4",
-    "marks": [
-      {
-        "type": "s",
-        "frame": 0,
-        "time": 0.0
-      },
-      {
-        "type": "s",
-        "frame": 293,
-        "time": 11.72
-      },
-      {
-        "type": "s",
-        "frame": 527,
-        "time": 21.08
-      },
-      {
-        "type": "s",
-        "frame": 584,
-        "time": 23.36
-      }
-    ],
-    "duration": 23.36,
-    "task": "make_toast",
-    "metric": "SIA+CSPC",
-    "group": "one-shot",
-    "episode_name": "episode_000005",
-    "gap": 20
-  }
-}
diff --git a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/organize_table_sia_cspc_annotations.json b/data/simulation/one-shot/annotations/subtasks/dataset_labeler/organize_table_sia_cspc_annotations.json
deleted file mode 100644
index 7b0a75c36441b29d4f482f622d9569ac5fd78bcd..0000000000000000000000000000000000000000
--- a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/organize_table_sia_cspc_annotations.json
+++ /dev/null
@@ -1,38 +0,0 @@
-{
-  "videos/observation.images.cam_high/chunk-000/file-006.mp4": {
-    "episode": "videos/observation.images.cam_high/chunk-000/file-006.mp4",
-    "marks": [
-      {
-        "type": "s",
-        "frame": 0,
-        "time": 0.0
-      },
-      {
-        "type": "s",
-        "frame": 162,
-        "time": 6.48
-      },
-      {
-        "type": "s",
-        "frame": 384,
-        "time": 15.36
-      },
-      {
-        "type": "s",
-        "frame": 546,
-        "time": 21.84
-      },
-      {
-        "type": "s",
-        "frame": 839,
-        "time": 33.56
-      }
-    ],
-    "duration": 33.56,
-    "task": "organize_table",
-    "metric": "SIA+CSPC",
-    "group": "one-shot",
-    "episode_name": "episode_000006",
-    "gap": 20
-  }
-}
diff --git a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/pack_objects_into_box_sia_cspc_annotations.json b/data/simulation/one-shot/annotations/subtasks/dataset_labeler/pack_objects_into_box_sia_cspc_annotations.json
deleted file mode 100644
index 454f4c473a904c576cfcff9333da529a9efa93af..0000000000000000000000000000000000000000
--- a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/pack_objects_into_box_sia_cspc_annotations.json
+++ /dev/null
@@ -1,43 +0,0 @@
-{
-  "videos/observation.images.cam_high/chunk-000/file-007.mp4": {
-    "episode": "videos/observation.images.cam_high/chunk-000/file-007.mp4",
-    "marks": [
-      {
-        "type": "s",
-        "frame": 0,
-        "time": 0.0
-      },
-      {
-        "type": "s",
-        "frame": 72,
-        "time": 2.88
-      },
-      {
-        "type": "s",
-        "frame": 149,
-        "time": 5.96
-      },
-      {
-        "type": "s",
-        "frame": 254,
-        "time": 10.16
-      },
-      {
-        "type": "s",
-        "frame": 319,
-        "time": 12.76
-      },
-      {
-        "type": "s",
-        "frame": 414,
-        "time": 16.56
-      }
-    ],
-    "duration": 16.56,
-    "task": "pack_objects_into_box",
-    "metric": "SIA+CSPC",
-    "group": "one-shot",
-    "episode_name": "episode_000007",
-    "gap": 20
-  }
-}
diff --git a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/play_stacking_toy_sia_cspc_annotations.json b/data/simulation/one-shot/annotations/subtasks/dataset_labeler/play_stacking_toy_sia_cspc_annotations.json
deleted file mode 100644
index 442131ff23fdee5032da1439293949b1f902bbd3..0000000000000000000000000000000000000000
--- a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/play_stacking_toy_sia_cspc_annotations.json
+++ /dev/null
@@ -1,38 +0,0 @@
-{
-  "videos/observation.images.cam_high/chunk-000/file-008.mp4": {
-    "episode": "videos/observation.images.cam_high/chunk-000/file-008.mp4",
-    "marks": [
-      {
-        "type": "s",
-        "frame": 0,
-        "time": 0.0
-      },
-      {
-        "type": "s",
-        "frame": 332,
-        "time": 13.28
-      },
-      {
-        "type": "s",
-        "frame": 605,
-        "time": 24.2
-      },
-      {
-        "type": "s",
-        "frame": 774,
-        "time": 30.96
-      },
-      {
-        "type": "s",
-        "frame": 888,
-        "time": 35.52
-      }
-    ],
-    "duration": 35.52,
-    "task": "play_stacking_toy",
-    "metric": "SIA+CSPC",
-    "group": "one-shot",
-    "episode_name": "episode_000008",
-    "gap": 20
-  }
-}
diff --git a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/press_by_number_sia_cspc_annotations.json b/data/simulation/one-shot/annotations/subtasks/dataset_labeler/press_by_number_sia_cspc_annotations.json
deleted file mode 100644
index b83265ec141b2bf78dbab2974bd981ccd2a00533..0000000000000000000000000000000000000000
--- a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/press_by_number_sia_cspc_annotations.json
+++ /dev/null
@@ -1,38 +0,0 @@
-{
-  "videos/observation.images.cam_high/chunk-000/file-009.mp4": {
-    "episode": "videos/observation.images.cam_high/chunk-000/file-009.mp4",
-    "marks": [
-      {
-        "type": "s",
-        "frame": 0,
-        "time": 0.0
-      },
-      {
-        "type": "s",
-        "frame": 195,
-        "time": 7.8
-      },
-      {
-        "type": "s",
-        "frame": 247,
-        "time": 9.88
-      },
-      {
-        "type": "s",
-        "frame": 312,
-        "time": 12.48
-      },
-      {
-        "type": "s",
-        "frame": 378,
-        "time": 15.12
-      }
-    ],
-    "duration": 15.12,
-    "task": "press_by_number",
-    "metric": "SIA+CSPC",
-    "group": "one-shot",
-    "episode_name": "episode_000009",
-    "gap": 20
-  }
-}
diff --git a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/put_bottles_into_dustbin_sia_cspc_annotations.json b/data/simulation/one-shot/annotations/subtasks/dataset_labeler/put_bottles_into_dustbin_sia_cspc_annotations.json
deleted file mode 100644
index a68c30dcefd7774376894e026b7a0bbcb52482d3..0000000000000000000000000000000000000000
--- a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/put_bottles_into_dustbin_sia_cspc_annotations.json
+++ /dev/null
@@ -1,38 +0,0 @@
-{
-  "videos/observation.images.cam_high/chunk-000/file-010.mp4": {
-    "episode": "videos/observation.images.cam_high/chunk-000/file-010.mp4",
-    "marks": [
-      {
-        "type": "s",
-        "frame": 0,
-        "time": 0.0
-      },
-      {
-        "type": "s",
-        "frame": 58,
-        "time": 2.32
-      },
-      {
-        "type": "s",
-        "frame": 124,
-        "time": 4.96
-      },
-      {
-        "type": "s",
-        "frame": 201,
-        "time": 8.04
-      },
-      {
-        "type": "s",
-        "frame": 363,
-        "time": 14.52
-      }
-    ],
-    "duration": 14.52,
-    "task": "put_bottles_into_dustbin",
-    "metric": "SIA+CSPC",
-    "group": "one-shot",
-    "episode_name": "episode_000010",
-    "gap": 20
-  }
-}
diff --git a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/stack_blocks_sia_cspc_annotations.json b/data/simulation/one-shot/annotations/subtasks/dataset_labeler/stack_blocks_sia_cspc_annotations.json
deleted file mode 100644
index c23a3541f01a018766e63cb403cec442e0f9085c..0000000000000000000000000000000000000000
--- a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/stack_blocks_sia_cspc_annotations.json
+++ /dev/null
@@ -1,33 +0,0 @@
-{
-  "videos/observation.images.cam_high/chunk-000/file-011.mp4": {
-    "episode": "videos/observation.images.cam_high/chunk-000/file-011.mp4",
-    "marks": [
-      {
-        "type": "s",
-        "frame": 0,
-        "time": 0.0
-      },
-      {
-        "type": "s",
-        "frame": 98,
-        "time": 3.92
-      },
-      {
-        "type": "s",
-        "frame": 175,
-        "time": 7.0
-      },
-      {
-        "type": "s",
-        "frame": 268,
-        "time": 10.72
-      }
-    ],
-    "duration": 10.72,
-    "task": "stack_blocks",
-    "metric": "SIA+CSPC",
-    "group": "one-shot",
-    "episode_name": "episode_000011",
-    "gap": 20
-  }
-}
diff --git a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/store_laptop_and_headphones_sia_cspc_annotations.json b/data/simulation/one-shot/annotations/subtasks/dataset_labeler/store_laptop_and_headphones_sia_cspc_annotations.json
deleted file mode 100644
index f98123788d9aaa5c32060636549490e051b91eb8..0000000000000000000000000000000000000000
--- a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/store_laptop_and_headphones_sia_cspc_annotations.json
+++ /dev/null
@@ -1,33 +0,0 @@
-{
-  "videos/observation.images.cam_high/chunk-000/file-012.mp4": {
-    "episode": "videos/observation.images.cam_high/chunk-000/file-012.mp4",
-    "marks": [
-      {
-        "type": "s",
-        "frame": 0,
-        "time": 0.0
-      },
-      {
-        "type": "s",
-        "frame": 111,
-        "time": 4.44
-      },
-      {
-        "type": "s",
-        "frame": 211,
-        "time": 8.44
-      },
-      {
-        "type": "s",
-        "frame": 551,
-        "time": 22.04
-      }
-    ],
-    "duration": 22.04,
-    "task": "store_laptop_and_headphones",
-    "metric": "SIA+CSPC",
-    "group": "one-shot",
-    "episode_name": "episode_000012",
-    "gap": 20
-  }
-}
diff --git a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/swap_blocks_sia_cspc_annotations.json b/data/simulation/one-shot/annotations/subtasks/dataset_labeler/swap_blocks_sia_cspc_annotations.json
deleted file mode 100644
index e9fc3aed66c5cf33b1247785b6a3e8d97de626dd..0000000000000000000000000000000000000000
--- a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/swap_blocks_sia_cspc_annotations.json
+++ /dev/null
@@ -1,48 +0,0 @@
-{
-  "videos/observation.images.cam_high/chunk-000/file-013.mp4": {
-    "episode": "videos/observation.images.cam_high/chunk-000/file-013.mp4",
-    "marks": [
-      {
-        "type": "s",
-        "frame": 0,
-        "time": 0.0
-      },
-      {
-        "type": "s",
-        "frame": 91,
-        "time": 3.64
-      },
-      {
-        "type": "s",
-        "frame": 143,
-        "time": 5.72
-      },
-      {
-        "type": "s",
-        "frame": 234,
-        "time": 9.36
-      },
-      {
-        "type": "s",
-        "frame": 286,
-        "time": 11.44
-      },
-      {
-        "type": "s",
-        "frame": 377,
-        "time": 15.08
-      },
-      {
-        "type": "s",
-        "frame": 445,
-        "time": 17.8
-      }
-    ],
-    "duration": 17.8,
-    "task": "swap_blocks",
-    "metric": "SIA+CSPC",
-    "group": "one-shot",
-    "episode_name": "episode_000013",
-    "gap": 20
-  }
-}
diff --git a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/sweep_blocks_sia_cspc_annotations.json b/data/simulation/one-shot/annotations/subtasks/dataset_labeler/sweep_blocks_sia_cspc_annotations.json
deleted file mode 100644
index c9cad25fa3f53b80cdf9a90407bd7b73f1d216c2..0000000000000000000000000000000000000000
--- a/data/simulation/one-shot/annotations/subtasks/dataset_labeler/sweep_blocks_sia_cspc_annotations.json
+++ /dev/null
@@ -1,33 +0,0 @@
-{
-  "videos/observation.images.cam_high/chunk-000/file-014.mp4": {
-    "episode": "videos/observation.images.cam_high/chunk-000/file-014.mp4",
-    "marks": [
-      {
-        "type": "s",
-        "frame": 0,
-        "time": 0.0
-      },
-      {
-        "type": "s",
-        "frame": 214,
-        "time": 8.56
-      },
-      {
-        "type": "s",
-        "frame": 381,
-        "time": 15.24
-      },
-      {
-        "type": "s",
-        "frame": 703,
-        "time": 28.12
-      }
-    ],
-    "duration": 28.12,
-    "task": "sweep_blocks",
-    "metric": "SIA+CSPC",
-    "group": "one-shot",
-    "episode_name": "episode_000014",
-    "gap": 20
-  }
-}
diff --git a/data/simulation/one-shot/annotations/subtasks/frame_labels.parquet b/data/simulation/one-shot/annotations/subtasks/frame_labels.parquet
deleted file mode 100644
index 14c70e277b9aa3e08569c339441b6ca76c21e3a0..0000000000000000000000000000000000000000
--- a/data/simulation/one-shot/annotations/subtasks/frame_labels.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c60482a9e93eab03c4ced08fc9f51c25dc3a91c95dbbbd5217aa302c0b4083fd
-size 45078
diff --git a/data/simulation/one-shot/annotations/subtasks/load_subtasks.py b/data/simulation/one-shot/annotations/subtasks/load_subtasks.py
deleted file mode 100644
index f91e8baa2f31cee90f61f7f6b68d8d2075b9877c..0000000000000000000000000000000000000000
--- a/data/simulation/one-shot/annotations/subtasks/load_subtasks.py
+++ /dev/null
@@ -1,68 +0,0 @@
-"""Read supplemental simulation One-Shot labels beside a LeRobot v3.0 dataset.
-
-The sidecar labels the active semantic subtask, not reward or success. Semantic
-boundary adjustment bands are independent of LeRobot video-loading tolerance.
-Requires only the Python standard library and PyArrow.
-"""
-from pathlib import Path, PurePosixPath
-import hashlib
-import json
-
-import pyarrow.parquet as pq
-
-
-class SubtaskAnnotations:
-    def __init__(self, dataset_root, verify_manifest=True):
-        self.dataset_root = Path(dataset_root)
-        self.annotation_root = self.dataset_root / "annotations" / "subtasks"
-        self.metadata = json.loads((self.annotation_root / "metadata.json").read_text())
-        if verify_manifest:
-            manifest = json.loads((self.annotation_root / "manifest.json").read_text())
-            for entry in manifest["files"]:
-                name = PurePosixPath(entry["path"])
-                if name.is_absolute() or ".." in name.parts:
-                    raise ValueError("Invalid manifest-relative file path")
-                payload = (self.annotation_root / name).read_bytes()
-                if len(payload) != entry["bytes"] or hashlib.sha256(payload).hexdigest() != entry["sha256"]:
-                    raise ValueError("Annotation manifest checksum mismatch")
-        info_path = self.dataset_root / "meta" / "info.json"
-        if info_path.exists():
-            info = json.loads(info_path.read_text())
-            for key in ("fps", "total_episodes", "total_frames"):
-                if info.get(key) != self.metadata["dataset"][key]:
-                    raise ValueError("Dataset/annotation metadata mismatch: " + key)
-            if info.get("codebase_version") != "v3.0":
-                raise ValueError("Expected a LeRobot v3.0 dataset")
-        self.table = pq.read_table(self.annotation_root / "frame_labels.parquet")
-        self.by_frame = {}
-        global_indices = set()
-        for row in self.table.to_pylist():
-            key = (row["episode_index"], row["frame_index"])
-            if key in self.by_frame or row["global_index"] in global_indices:
-                raise ValueError("Duplicate annotation frame/global index")
-            self.by_frame[key] = row
-            global_indices.add(row["global_index"])
-        if len(self.by_frame) != self.metadata["dataset"]["total_frames"]:
-            raise ValueError("Annotation frame count mismatch")
-        if global_indices != set(range(self.metadata["dataset"]["total_frames"])):
-            raise ValueError("Annotation global index grid mismatch")
-        for episode in self.metadata["episodes"]:
-            ep = episode["episode_index"]
-            for frame in range(episode["length"]):
-                row = self.by_frame.get((ep, frame))
-                if row is None or row["global_index"] != episode["dataset_from_index"] + frame:
-                    raise ValueError("Annotation episode/frame/global index mismatch")
-
-    def label(self, episode_index, frame_index, global_index=None):
-        row = self.by_frame[(int(episode_index), int(frame_index))]
-        if global_index is not None and row["global_index"] != int(global_index):
-            raise ValueError("LeRobot sample index does not match annotation")
-        return dict(row)
-
-    def for_sample(self, sample):
-        """Attach explicitly to a scalar LeRobotDataset sample, before collation."""
-        return self.label(sample["episode_index"], sample["frame_index"], sample["index"])
-
-
-def load_subtasks(dataset_root, verify_manifest=True):
-    return SubtaskAnnotations(dataset_root, verify_manifest=verify_manifest)
diff --git a/data/simulation/one-shot/annotations/subtasks/manifest.json b/data/simulation/one-shot/annotations/subtasks/manifest.json
deleted file mode 100644
index ebf69b1e0c3a1fd636839bfde6337abcaaa10d73..0000000000000000000000000000000000000000
--- a/data/simulation/one-shot/annotations/subtasks/manifest.json
+++ /dev/null
@@ -1,140 +0,0 @@
-{
-  "schema_version": 1,
-  "annotation_revision": 2,
-  "annotation_status": "user_confirmed_release",
-  "source_dataset": {
-    "repo_id": "wzlllong/value-model-benchmark-training-data",
-    "subtree": "data/simulation/one-shot",
-    "data_revision": "43ae4845fe0461c66aa59a0ee441185d99fb05f8",
-    "source_subtree_tree_id": "837e271aac36ea3eea72599ab5bca86db64bb025"
-  },
-  "checksum_algorithm": "SHA256",
-  "scope": "Payload files listed below; manifest does not hash itself. Optional documentation is outside this payload manifest.",
-  "files": [
-    {
-      "path": "dataset_labeler/arrange_largest_number_sia_cspc_annotations.json",
-      "bytes": 738,
-      "sha256": "b7454982fca24a6b5ef31483ee0244994b6fd92d644468351715c52e5d775dff"
-    },
-    {
-      "path": "dataset_labeler/exceptional_intervals.json",
-      "bytes": 2362,
-      "sha256": "a9b8fe08f2f344c0c03a2093b47eca331ed9db20a3eb02c23ec26ac8d83fa133"
-    },
-    {
-      "path": "dataset_labeler/fill_pen_holder_sia_cspc_annotations.json",
-      "bytes": 895,
-      "sha256": "0f903cccbedb8123d5a640850732d1dfe37becaff034c9e7f1075bf305a5c5ef"
-    },
-    {
-      "path": "dataset_labeler/fold_clothes_sia_cspc_annotations.json",
-      "bytes": 646,
-      "sha256": "a864767fc72267a7aea0caa00ff48b70e3ae55b2c5478c31c8f51db4b839e04f"
-    },
-    {
-      "path": "dataset_labeler/hang_mugs_sia_cspc_annotations.json",
-      "bytes": 643,
-      "sha256": "d12864d12d0b4725c530b4690dadbec7b78ed2b46e791b0843d370f6969ceda8"
-    },
-    {
-      "path": "dataset_labeler/insert_tubes_sia_cspc_annotations.json",
-      "bytes": 643,
-      "sha256": "d1beb3a67d54532bc9d0f6399c6706e7de30a902018ba72e20facd5a6b7918d0"
-    },
-    {
-      "path": "dataset_labeler/make_toast_sia_cspc_annotations.json",
-      "bytes": 646,
-      "sha256": "f143ecacc873f0fa1974e5ba423b93063c7f9e1a96376e12d2f41e906ff8dcf5"
-    },
-    {
-      "path": "dataset_labeler/organize_table_sia_cspc_annotations.json",
-      "bytes": 731,
-      "sha256": "08528932a749e75962e3e43e5f5fd286bc4ec09cb542f1c451720ade3283f3ce"
-    },
-    {
-      "path": "dataset_labeler/pack_objects_into_box_sia_cspc_annotations.json",
-      "bytes": 818,
-      "sha256": "dd8bf04c559c55ecbac68eb2c35f88d0a27a72fb66289d8ec94b95911f72aeed"
-    },
-    {
-      "path": "dataset_labeler/play_stacking_toy_sia_cspc_annotations.json",
-      "bytes": 734,
-      "sha256": "ea77ddb0bf0411ad7de6081c3c43efbedfe6a23130a9921f15607ed6d60914e2"
-    },
-    {
-      "path": "dataset_labeler/press_by_number_sia_cspc_annotations.json",
-      "bytes": 730,
-      "sha256": "294467bc14a023671aaa024bc945304679022ff890cd6c8beb2bf96ffb10b819"
-    },
-    {
-      "path": "dataset_labeler/put_bottles_into_dustbin_sia_cspc_annotations.json",
-      "bytes": 738,
-      "sha256": "45c74fb506df83efa8e5f3f0074b10662532a64bf68847eb255111465216ac1b"
-    },
-    {
-      "path": "dataset_labeler/stack_blocks_sia_cspc_annotations.json",
-      "bytes": 644,
-      "sha256": "334c6003f9391de41e182db490fef62b785d18a08713c7775fd0f0a857da187a"
-    },
-    {
-      "path": "dataset_labeler/store_laptop_and_headphones_sia_cspc_annotations.json",
-      "bytes": 661,
-      "sha256": "6b0b21e080629c780fbcc2d40becfc8036acb1cc3ca9c453592a539d5a0ba139"
-    },
-    {
-      "path": "dataset_labeler/swap_blocks_sia_cspc_annotations.json",
-      "bytes": 887,
-      "sha256": "18548b2aff6451f20b83abf39ead093fb9a386898d4284d4f62fe8f9e7b2d38a"
-    },
-    {
-      "path": "dataset_labeler/sweep_blocks_sia_cspc_annotations.json",
-      "bytes": 647,
-      "sha256": "fe6cf004d4d5f2a98bc00b6a2dd451b85d5041b352178d2ab002aa289cbeea3e"
-    },
-    {
-      "path": "frame_labels.parquet",
-      "bytes": 45078,
-      "sha256": "c60482a9e93eab03c4ced08fc9f51c25dc3a91c95dbbbd5217aa302c0b4083fd"
-    },
-    {
-      "path": "load_subtasks.py",
-      "bytes": 3613,
-      "sha256": "1da4ca862876b3e905aa48aadc01e0d8fe95f00b63bc0bc94e526bd4102d5526"
-    },
-    {
-      "path": "metadata.json",
-      "bytes": 6020,
-      "sha256": "66f9cb2b99fb1660dc53e79e704738c17f583acac6fe94b6fd854efc131b5d72"
-    },
-    {
-      "path": "segments.json",
-      "bytes": 40801,
-      "sha256": "d051fa39a762429ed676ea026d58ba3605907c1bc6fdc5cf591243157e641bc5"
-    },
-    {
-      "path": "segments.parquet",
-      "bytes": 12243,
-      "sha256": "b59c48d8fe127b5e709cece59194c34d8b4b11d20b783d7e027d4f3d271ba059"
-    },
-    {
-      "path": "taxonomy.json",
-      "bytes": 18280,
-      "sha256": "42ba4f20b63b5474a9e065249d5c1344ae9a95a6f7f0b61dcedf452994310032"
-    },
-    {
-      "path": "validation.json",
-      "bytes": 1826,
-      "sha256": "2cd9f8077225b1e3701b702722e7a49f60820f5090cb4af7605f3ca12e976545"
-    }
-  ],
-  "compatibility_exports": {
-    "format": "dataset_labeler node annotations",
-    "path": "dataset_labeler",
-    "raw_files": "<task_key>_sia_cspc_annotations.json",
-    "transfer_export": "dataset_labeler/exceptional_intervals.json",
-    "video_paths": "Relative to the simulation One-Shot dataset root; rebase to a local absolute root when importing into a path-based tool.",
-    "marks": "N+1 s nodes for N subtasks: start 0 followed by each exclusive end; final node equals episode length.",
-    "frame_intervals": "[frames[i], frames[i+1])",
-    "scope": "Training demonstrations; metric identifies node serialization, not a benchmark evaluation result."
-  }
-}
diff --git a/data/simulation/one-shot/annotations/subtasks/metadata.json b/data/simulation/one-shot/annotations/subtasks/metadata.json
deleted file mode 100644
index 7f090cf9192c2f12766daed56b39762ab859377f..0000000000000000000000000000000000000000
--- a/data/simulation/one-shot/annotations/subtasks/metadata.json
+++ /dev/null
@@ -1,185 +0,0 @@
-{
-  "schema_version": 1,
-  "annotation_revision": 2,
-  "annotation_status": "user_confirmed_release",
-  "source_dataset": {
-    "repo_id": "wzlllong/value-model-benchmark-training-data",
-    "subtree": "data/simulation/one-shot",
-    "data_revision": "43ae4845fe0461c66aa59a0ee441185d99fb05f8",
-    "source_subtree_tree_id": "837e271aac36ea3eea72599ab5bca86db64bb025"
-  },
-  "dataset": {
-    "codebase_version": "v3.0",
-    "fps": 25,
-    "total_episodes": 15,
-    "total_frames": 8080,
-    "total_videos": 45
-  },
-  "paper": {
-    "url": "https://arxiv.org/abs/2610.26663",
-    "revision": "2610.26663v1",
-    "section": "C.2 Task Descriptions and Subtask Decomposition"
-  },
-  "segment_count": 58,
-  "paper_subtask_count": 58,
-  "annotation_target": "Active semantic subtask for each training-demonstration frame; not success, reward, or task-completion probability.",
-  "release_scope": "Supplemental annotations for simulation One-Shot training demonstrations, separate from benchmark test-set labels described in paper Section 3.4.",
-  "coverage_policy": "Every frame receives one printed paper subtask. Initial waiting belongs to the first subtask; terminal tail and retraction belong to the final subtask through episode end.",
-  "interval_convention": "[start_frame, end_frame); inclusive_end_frame = end_frame - 1",
-  "join_keys": [
-    "episode_index",
-    "frame_index"
-  ],
-  "global_index_check": "global_index equals the LeRobot data index column",
-  "timestamp_convention": "Nominal timestamp_seconds = frame_index / 25; associate frames by integer keys, not exact float timestamp equality.",
-  "boundary_band": "Typically 13 frames (0.52 seconds); retained segment-specific widths are suggested adjustment bands, not measured confidence bounds or guarantees of frame-perfect precision.",
-  "boundary_uncertain_policy": "For each segment, mark its first t frames after an internal start and last t frames before an internal end; episode outer boundaries excluded. Keep all frame labels regardless of mask.",
-  "video_loading": {
-    "recommended_lerobot": "0.4.2",
-    "recommended_pyav": "15.1.0",
-    "default_tolerance_seconds": 0.0001,
-    "semantic_band_changes_loader_tolerance": false
-  },
-  "source_training_payload_modified": false,
-  "printed_label_policy": "Use the paper's printed S definitions, including Press By Number's S1 first button, S2 blue, S3 second button, S4 blue again; preserve the accepted order without rewriting the paper instruction.",
-  "task_aliases": {
-    "sweep_objects": "sweep_blocks"
-  },
-  "episodes": [
-    {
-      "episode_index": 0,
-      "task_index": 0,
-      "task_key": "arrange_largest_number",
-      "source_task_key": "arrange_largest_number",
-      "length": 579,
-      "dataset_from_index": 0,
-      "dataset_to_index": 579
-    },
-    {
-      "episode_index": 1,
-      "task_index": 1,
-      "task_key": "fill_pen_holder",
-      "source_task_key": "fill_pen_holder",
-      "length": 934,
-      "dataset_from_index": 579,
-      "dataset_to_index": 1513
-    },
-    {
-      "episode_index": 2,
-      "task_index": 2,
-      "task_key": "fold_clothes",
-      "source_task_key": "fold_clothes",
-      "length": 301,
-      "dataset_from_index": 1513,
-      "dataset_to_index": 1814
-    },
-    {
-      "episode_index": 3,
-      "task_index": 3,
-      "task_key": "hang_mugs",
-      "source_task_key": "hang_mugs",
-      "length": 513,
-      "dataset_from_index": 1814,
-      "dataset_to_index": 2327
-    },
-    {
-      "episode_index": 4,
-      "task_index": 4,
-      "task_key": "insert_tubes",
-      "source_task_key": "insert_tubes",
-      "length": 320,
-      "dataset_from_index": 2327,
-      "dataset_to_index": 2647
-    },
-    {
-      "episode_index": 5,
-      "task_index": 5,
-      "task_key": "make_toast",
-      "source_task_key": "make_toast",
-      "length": 584,
-      "dataset_from_index": 2647,
-      "dataset_to_index": 3231
-    },
-    {
-      "episode_index": 6,
-      "task_index": 6,
-      "task_key": "organize_table",
-      "source_task_key": "organize_table",
-      "length": 839,
-      "dataset_from_index": 3231,
-      "dataset_to_index": 4070
-    },
-    {
-      "episode_index": 7,
-      "task_index": 7,
-      "task_key": "pack_objects_into_box",
-      "source_task_key": "pack_objects_into_box",
-      "length": 414,
-      "dataset_from_index": 4070,
-      "dataset_to_index": 4484
-    },
-    {
-      "episode_index": 8,
-      "task_index": 8,
-      "task_key": "play_stacking_toy",
-      "source_task_key": "play_stacking_toy",
-      "length": 888,
-      "dataset_from_index": 4484,
-      "dataset_to_index": 5372
-    },
-    {
-      "episode_index": 9,
-      "task_index": 9,
-      "task_key": "press_by_number",
-      "source_task_key": "press_by_number",
-      "length": 378,
-      "dataset_from_index": 5372,
-      "dataset_to_index": 5750
-    },
-    {
-      "episode_index": 10,
-      "task_index": 10,
-      "task_key": "put_bottles_into_dustbin",
-      "source_task_key": "put_bottles_into_dustbin",
-      "length": 363,
-      "dataset_from_index": 5750,
-      "dataset_to_index": 6113
-    },
-    {
-      "episode_index": 11,
-      "task_index": 11,
-      "task_key": "stack_blocks",
-      "source_task_key": "stack_blocks",
-      "length": 268,
-      "dataset_from_index": 6113,
-      "dataset_to_index": 6381
-    },
-    {
-      "episode_index": 12,
-      "task_index": 12,
-      "task_key": "store_laptop_and_headphones",
-      "source_task_key": "store_laptop_and_headphones",
-      "length": 551,
-      "dataset_from_index": 6381,
-      "dataset_to_index": 6932
-    },
-    {
-      "episode_index": 13,
-      "task_index": 13,
-      "task_key": "swap_blocks",
-      "source_task_key": "swap_blocks",
-      "length": 445,
-      "dataset_from_index": 6932,
-      "dataset_to_index": 7377
-    },
-    {
-      "episode_index": 14,
-      "task_index": 14,
-      "task_key": "sweep_blocks",
-      "source_task_key": "sweep_objects",
-      "length": 703,
-      "dataset_from_index": 7377,
-      "dataset_to_index": 8080
-    }
-  ]
-}
diff --git a/data/simulation/one-shot/annotations/subtasks/segments.json b/data/simulation/one-shot/annotations/subtasks/segments.json
deleted file mode 100644
index ba7470dd59098600c67cd696becda9c52d3fb508..0000000000000000000000000000000000000000
--- a/data/simulation/one-shot/annotations/subtasks/segments.json
+++ /dev/null
@@ -1,1175 +0,0 @@
-{
-  "schema_version": 1,
-  "annotation_revision": 2,
-  "annotation_status": "user_confirmed_release",
-  "source_dataset": {
-    "repo_id": "wzlllong/value-model-benchmark-training-data",
-    "subtree": "data/simulation/one-shot",
-    "data_revision": "43ae4845fe0461c66aa59a0ee441185d99fb05f8",
-    "source_subtree_tree_id": "837e271aac36ea3eea72599ab5bca86db64bb025"
-  },
-  "fps": 25,
-  "interval_convention": "[start_frame, end_frame)",
-  "segments": [
-    {
-      "episode_index": 0,
-      "task_key": "arrange_largest_number",
-      "subtask_id": "S1",
-      "start_frame": 0,
-      "end_frame": 104,
-      "segment_index": 0,
-      "boundary_tolerance_frames": 13,
-      "task_index": 0,
-      "source_task_key": "arrange_largest_number",
-      "semantic_id": "arrange_largest_number/S1",
-      "subtask_text_en": "Place the largest number on the leftmost mat.",
-      "subtask_text_zh": "将最大的数字放到最左侧垫子。",
-      "inclusive_end_frame": 103,
-      "global_start_index": 0,
-      "global_end_index": 104,
-      "start_timestamp_seconds": 0.0,
-      "end_timestamp_seconds": 4.16,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 0,
-      "task_key": "arrange_largest_number",
-      "subtask_id": "S2",
-      "start_frame": 104,
-      "end_frame": 280,
-      "segment_index": 1,
-      "boundary_tolerance_frames": 13,
-      "task_index": 0,
-      "source_task_key": "arrange_largest_number",
-      "semantic_id": "arrange_largest_number/S2",
-      "subtask_text_en": "Place the largest number outside the mats on the second mat from the left.",
-      "subtask_text_zh": "将垫子外最大的数字放到左起第二个垫子。",
-      "inclusive_end_frame": 279,
-      "global_start_index": 104,
-      "global_end_index": 280,
-      "start_timestamp_seconds": 4.16,
-      "end_timestamp_seconds": 11.2,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 0,
-      "task_key": "arrange_largest_number",
-      "subtask_id": "S3",
-      "start_frame": 280,
-      "end_frame": 384,
-      "segment_index": 2,
-      "boundary_tolerance_frames": 13,
-      "task_index": 0,
-      "source_task_key": "arrange_largest_number",
-      "semantic_id": "arrange_largest_number/S3",
-      "subtask_text_en": "Place the largest number outside the mats on the third mat from the left.",
-      "subtask_text_zh": "将垫子外最大的数字放到左起第三个垫子。",
-      "inclusive_end_frame": 383,
-      "global_start_index": 280,
-      "global_end_index": 384,
-      "start_timestamp_seconds": 11.2,
-      "end_timestamp_seconds": 15.36,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 0,
-      "task_key": "arrange_largest_number",
-      "subtask_id": "S4",
-      "start_frame": 384,
-      "end_frame": 579,
-      "segment_index": 3,
-      "boundary_tolerance_frames": 13,
-      "task_index": 0,
-      "source_task_key": "arrange_largest_number",
-      "semantic_id": "arrange_largest_number/S4",
-      "subtask_text_en": "Place the remaining number on the fourth mat from the left.",
-      "subtask_text_zh": "将剩余数字放到左起第四个垫子。",
-      "inclusive_end_frame": 578,
-      "global_start_index": 384,
-      "global_end_index": 579,
-      "start_timestamp_seconds": 15.36,
-      "end_timestamp_seconds": 23.16,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 1,
-      "task_key": "fill_pen_holder",
-      "subtask_id": "S1",
-      "start_frame": 0,
-      "end_frame": 123,
-      "segment_index": 4,
-      "boundary_tolerance_frames": 13,
-      "task_index": 1,
-      "source_task_key": "fill_pen_holder",
-      "semantic_id": "fill_pen_holder/S1",
-      "subtask_text_en": "Hold the empty pen holder.",
-      "subtask_text_zh": "拿住空笔筒。",
-      "inclusive_end_frame": 122,
-      "global_start_index": 579,
-      "global_end_index": 702,
-      "start_timestamp_seconds": 0.0,
-      "end_timestamp_seconds": 4.92,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 1,
-      "task_key": "fill_pen_holder",
-      "subtask_id": "S2",
-      "start_frame": 123,
-      "end_frame": 331,
-      "segment_index": 5,
-      "boundary_tolerance_frames": 13,
-      "task_index": 1,
-      "source_task_key": "fill_pen_holder",
-      "semantic_id": "fill_pen_holder/S2",
-      "subtask_text_en": "Insert the first selected pen into the pen holder.",
-      "subtask_text_zh": "将第一支选中的笔插入笔筒。",
-      "inclusive_end_frame": 330,
-      "global_start_index": 702,
-      "global_end_index": 910,
-      "start_timestamp_seconds": 4.92,
-      "end_timestamp_seconds": 13.24,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 1,
-      "task_key": "fill_pen_holder",
-      "subtask_id": "S3",
-      "start_frame": 331,
-      "end_frame": 526,
-      "segment_index": 6,
-      "boundary_tolerance_frames": 13,
-      "task_index": 1,
-      "source_task_key": "fill_pen_holder",
-      "semantic_id": "fill_pen_holder/S3",
-      "subtask_text_en": "Insert the second selected pen into the pen holder.",
-      "subtask_text_zh": "将第二支选中的笔插入笔筒。",
-      "inclusive_end_frame": 525,
-      "global_start_index": 910,
-      "global_end_index": 1105,
-      "start_timestamp_seconds": 13.24,
-      "end_timestamp_seconds": 21.04,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 1,
-      "task_key": "fill_pen_holder",
-      "subtask_id": "S4",
-      "start_frame": 526,
-      "end_frame": 709,
-      "segment_index": 7,
-      "boundary_tolerance_frames": 13,
-      "task_index": 1,
-      "source_task_key": "fill_pen_holder",
-      "semantic_id": "fill_pen_holder/S4",
-      "subtask_text_en": "Insert the third selected pen into the pen holder.",
-      "subtask_text_zh": "将第三支选中的笔插入笔筒。",
-      "inclusive_end_frame": 708,
-      "global_start_index": 1105,
-      "global_end_index": 1288,
-      "start_timestamp_seconds": 21.04,
-      "end_timestamp_seconds": 28.36,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 1,
-      "task_key": "fill_pen_holder",
-      "subtask_id": "S5",
-      "start_frame": 709,
-      "end_frame": 845,
-      "segment_index": 8,
-      "boundary_tolerance_frames": 13,
-      "task_index": 1,
-      "source_task_key": "fill_pen_holder",
-      "semantic_id": "fill_pen_holder/S5",
-      "subtask_text_en": "Insert the remaining pen into the pen holder.",
-      "subtask_text_zh": "将剩余的一支笔插入笔筒。",
-      "inclusive_end_frame": 844,
-      "global_start_index": 1288,
-      "global_end_index": 1424,
-      "start_timestamp_seconds": 28.36,
-      "end_timestamp_seconds": 33.8,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 1,
-      "task_key": "fill_pen_holder",
-      "subtask_id": "S6",
-      "start_frame": 845,
-      "end_frame": 934,
-      "segment_index": 9,
-      "boundary_tolerance_frames": 13,
-      "task_index": 1,
-      "source_task_key": "fill_pen_holder",
-      "semantic_id": "fill_pen_holder/S6",
-      "subtask_text_en": "Place the filled pen holder upright on the table.",
-      "subtask_text_zh": "将装满的笔筒直立放在桌上。",
-      "inclusive_end_frame": 933,
-      "global_start_index": 1424,
-      "global_end_index": 1513,
-      "start_timestamp_seconds": 33.8,
-      "end_timestamp_seconds": 37.36,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 2,
-      "task_key": "fold_clothes",
-      "subtask_id": "S1",
-      "start_frame": 0,
-      "end_frame": 103,
-      "segment_index": 10,
-      "boundary_tolerance_frames": 13,
-      "task_index": 2,
-      "source_task_key": "fold_clothes",
-      "semantic_id": "fold_clothes/S1",
-      "subtask_text_en": "Fold the left sleeve inward.",
-      "subtask_text_zh": "将左袖向内折。",
-      "inclusive_end_frame": 102,
-      "global_start_index": 1513,
-      "global_end_index": 1616,
-      "start_timestamp_seconds": 0.0,
-      "end_timestamp_seconds": 4.12,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 2,
-      "task_key": "fold_clothes",
-      "subtask_id": "S2",
-      "start_frame": 103,
-      "end_frame": 208,
-      "segment_index": 11,
-      "boundary_tolerance_frames": 13,
-      "task_index": 2,
-      "source_task_key": "fold_clothes",
-      "semantic_id": "fold_clothes/S2",
-      "subtask_text_en": "Fold the right sleeve inward.",
-      "subtask_text_zh": "将右袖向内折。",
-      "inclusive_end_frame": 207,
-      "global_start_index": 1616,
-      "global_end_index": 1721,
-      "start_timestamp_seconds": 4.12,
-      "end_timestamp_seconds": 8.32,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 2,
-      "task_key": "fold_clothes",
-      "subtask_id": "S3",
-      "start_frame": 208,
-      "end_frame": 301,
-      "segment_index": 12,
-      "boundary_tolerance_frames": 13,
-      "task_index": 2,
-      "source_task_key": "fold_clothes",
-      "semantic_id": "fold_clothes/S3",
-      "subtask_text_en": "Fold the lower half of the garment over the upper half.",
-      "subtask_text_zh": "将衣物下半部分折到上半部分之上。",
-      "inclusive_end_frame": 300,
-      "global_start_index": 1721,
-      "global_end_index": 1814,
-      "start_timestamp_seconds": 8.32,
-      "end_timestamp_seconds": 12.04,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 3,
-      "task_key": "hang_mugs",
-      "subtask_id": "S1",
-      "start_frame": 0,
-      "end_frame": 190,
-      "segment_index": 13,
-      "boundary_tolerance_frames": 13,
-      "task_index": 3,
-      "source_task_key": "hang_mugs",
-      "semantic_id": "hang_mugs/S1",
-      "subtask_text_en": "Hang the first cup on an empty hook.",
-      "subtask_text_zh": "将第一个杯子挂在空挂钩上。",
-      "inclusive_end_frame": 189,
-      "global_start_index": 1814,
-      "global_end_index": 2004,
-      "start_timestamp_seconds": 0.0,
-      "end_timestamp_seconds": 7.6,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 3,
-      "task_key": "hang_mugs",
-      "subtask_id": "S2",
-      "start_frame": 190,
-      "end_frame": 331,
-      "segment_index": 14,
-      "boundary_tolerance_frames": 13,
-      "task_index": 3,
-      "source_task_key": "hang_mugs",
-      "semantic_id": "hang_mugs/S2",
-      "subtask_text_en": "Hang the second cup on another empty hook.",
-      "subtask_text_zh": "将第二个杯子挂在另一个空挂钩上。",
-      "inclusive_end_frame": 330,
-      "global_start_index": 2004,
-      "global_end_index": 2145,
-      "start_timestamp_seconds": 7.6,
-      "end_timestamp_seconds": 13.24,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 3,
-      "task_key": "hang_mugs",
-      "subtask_id": "S3",
-      "start_frame": 331,
-      "end_frame": 513,
-      "segment_index": 15,
-      "boundary_tolerance_frames": 13,
-      "task_index": 3,
-      "source_task_key": "hang_mugs",
-      "semantic_id": "hang_mugs/S3",
-      "subtask_text_en": "Hang the third cup on the remaining empty hook.",
-      "subtask_text_zh": "将第三个杯子挂在剩余空挂钩上。",
-      "inclusive_end_frame": 512,
-      "global_start_index": 2145,
-      "global_end_index": 2327,
-      "start_timestamp_seconds": 13.24,
-      "end_timestamp_seconds": 20.52,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 4,
-      "task_key": "insert_tubes",
-      "subtask_id": "S1",
-      "start_frame": 0,
-      "end_frame": 110,
-      "segment_index": 16,
-      "boundary_tolerance_frames": 13,
-      "task_index": 4,
-      "source_task_key": "insert_tubes",
-      "semantic_id": "insert_tubes/S1",
-      "subtask_text_en": "Insert the first tube into an empty slot.",
-      "subtask_text_zh": "将第一根管插入空槽。",
-      "inclusive_end_frame": 109,
-      "global_start_index": 2327,
-      "global_end_index": 2437,
-      "start_timestamp_seconds": 0.0,
-      "end_timestamp_seconds": 4.4,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 4,
-      "task_key": "insert_tubes",
-      "subtask_id": "S2",
-      "start_frame": 110,
-      "end_frame": 208,
-      "segment_index": 17,
-      "boundary_tolerance_frames": 13,
-      "task_index": 4,
-      "source_task_key": "insert_tubes",
-      "semantic_id": "insert_tubes/S2",
-      "subtask_text_en": "Insert the second tube into another empty slot.",
-      "subtask_text_zh": "将第二根管插入另一个空槽。",
-      "inclusive_end_frame": 207,
-      "global_start_index": 2437,
-      "global_end_index": 2535,
-      "start_timestamp_seconds": 4.4,
-      "end_timestamp_seconds": 8.32,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 4,
-      "task_key": "insert_tubes",
-      "subtask_id": "S3",
-      "start_frame": 208,
-      "end_frame": 320,
-      "segment_index": 18,
-      "boundary_tolerance_frames": 13,
-      "task_index": 4,
-      "source_task_key": "insert_tubes",
-      "semantic_id": "insert_tubes/S3",
-      "subtask_text_en": "Insert the third tube into the remaining empty slot.",
-      "subtask_text_zh": "将第三根管插入剩余空槽。",
-      "inclusive_end_frame": 319,
-      "global_start_index": 2535,
-      "global_end_index": 2647,
-      "start_timestamp_seconds": 8.32,
-      "end_timestamp_seconds": 12.8,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 5,
-      "task_key": "make_toast",
-      "subtask_id": "S1",
-      "start_frame": 0,
-      "end_frame": 293,
-      "segment_index": 19,
-      "boundary_tolerance_frames": 13,
-      "task_index": 5,
-      "source_task_key": "make_toast",
-      "semantic_id": "make_toast/S1",
-      "subtask_text_en": "Insert the first bread slice into one toaster slot.",
-      "subtask_text_zh": "将第一片面包插入一个烤面包机槽。",
-      "inclusive_end_frame": 292,
-      "global_start_index": 2647,
-      "global_end_index": 2940,
-      "start_timestamp_seconds": 0.0,
-      "end_timestamp_seconds": 11.72,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 5,
-      "task_key": "make_toast",
-      "subtask_id": "S2",
-      "start_frame": 293,
-      "end_frame": 527,
-      "segment_index": 20,
-      "boundary_tolerance_frames": 13,
-      "task_index": 5,
-      "source_task_key": "make_toast",
-      "semantic_id": "make_toast/S2",
-      "subtask_text_en": "Insert the second bread slice into the remaining toaster slot.",
-      "subtask_text_zh": "将第二片面包插入剩余烤面包机槽。",
-      "inclusive_end_frame": 526,
-      "global_start_index": 2940,
-      "global_end_index": 3174,
-      "start_timestamp_seconds": 11.72,
-      "end_timestamp_seconds": 21.08,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 5,
-      "task_key": "make_toast",
-      "subtask_id": "S3",
-      "start_frame": 527,
-      "end_frame": 584,
-      "segment_index": 21,
-      "boundary_tolerance_frames": 13,
-      "task_index": 5,
-      "source_task_key": "make_toast",
-      "semantic_id": "make_toast/S3",
-      "subtask_text_en": "Press the toaster lever down.",
-      "subtask_text_zh": "按下烤面包机拉杆。",
-      "inclusive_end_frame": 583,
-      "global_start_index": 3174,
-      "global_end_index": 3231,
-      "start_timestamp_seconds": 21.08,
-      "end_timestamp_seconds": 23.36,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 6,
-      "task_key": "organize_table",
-      "subtask_id": "S1",
-      "start_frame": 0,
-      "end_frame": 162,
-      "segment_index": 22,
-      "boundary_tolerance_frames": 13,
-      "task_index": 6,
-      "source_task_key": "organize_table",
-      "semantic_id": "organize_table/S1",
-      "subtask_text_en": "Place the alarm clock on top of the drawer.",
-      "subtask_text_zh": "将闹钟放到抽屉顶部。",
-      "inclusive_end_frame": 161,
-      "global_start_index": 3231,
-      "global_end_index": 3393,
-      "start_timestamp_seconds": 0.0,
-      "end_timestamp_seconds": 6.48,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 6,
-      "task_key": "organize_table",
-      "subtask_id": "S2",
-      "start_frame": 162,
-      "end_frame": 384,
-      "segment_index": 23,
-      "boundary_tolerance_frames": 13,
-      "task_index": 6,
-      "source_task_key": "organize_table",
-      "semantic_id": "organize_table/S2",
-      "subtask_text_en": "Place the figurine on the stand.",
-      "subtask_text_zh": "将摆件放到支架上。",
-      "inclusive_end_frame": 383,
-      "global_start_index": 3393,
-      "global_end_index": 3615,
-      "start_timestamp_seconds": 6.48,
-      "end_timestamp_seconds": 15.36,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 6,
-      "task_key": "organize_table",
-      "subtask_id": "S3",
-      "start_frame": 384,
-      "end_frame": 546,
-      "segment_index": 24,
-      "boundary_tolerance_frames": 13,
-      "task_index": 6,
-      "source_task_key": "organize_table",
-      "semantic_id": "organize_table/S3",
-      "subtask_text_en": "Place the mouse on the mouse pad.",
-      "subtask_text_zh": "将鼠标放到鼠标垫上。",
-      "inclusive_end_frame": 545,
-      "global_start_index": 3615,
-      "global_end_index": 3777,
-      "start_timestamp_seconds": 15.36,
-      "end_timestamp_seconds": 21.84,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 6,
-      "task_key": "organize_table",
-      "subtask_id": "S4",
-      "start_frame": 546,
-      "end_frame": 839,
-      "segment_index": 25,
-      "boundary_tolerance_frames": 25,
-      "task_index": 6,
-      "source_task_key": "organize_table",
-      "semantic_id": "organize_table/S4",
-      "subtask_text_en": "Insert the keyboard into the frame.",
-      "subtask_text_zh": "将键盘推入框架。",
-      "inclusive_end_frame": 838,
-      "global_start_index": 3777,
-      "global_end_index": 4070,
-      "start_timestamp_seconds": 21.84,
-      "end_timestamp_seconds": 33.56,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 7,
-      "task_key": "pack_objects_into_box",
-      "subtask_id": "S1",
-      "start_frame": 0,
-      "end_frame": 72,
-      "segment_index": 26,
-      "boundary_tolerance_frames": 13,
-      "task_index": 7,
-      "source_task_key": "pack_objects_into_box",
-      "semantic_id": "pack_objects_into_box/S1",
-      "subtask_text_en": "Clear the center of the table, then place the box in the center of the table.",
-      "subtask_text_zh": "清空桌面中央，再将盒子放到桌面中央。",
-      "inclusive_end_frame": 71,
-      "global_start_index": 4070,
-      "global_end_index": 4142,
-      "start_timestamp_seconds": 0.0,
-      "end_timestamp_seconds": 2.88,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 7,
-      "task_key": "pack_objects_into_box",
-      "subtask_id": "S2",
-      "start_frame": 72,
-      "end_frame": 149,
-      "segment_index": 27,
-      "boundary_tolerance_frames": 13,
-      "task_index": 7,
-      "source_task_key": "pack_objects_into_box",
-      "semantic_id": "pack_objects_into_box/S2",
-      "subtask_text_en": "Place the shoe into the box.",
-      "subtask_text_zh": "将鞋放入盒子。",
-      "inclusive_end_frame": 148,
-      "global_start_index": 4142,
-      "global_end_index": 4219,
-      "start_timestamp_seconds": 2.88,
-      "end_timestamp_seconds": 5.96,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 7,
-      "task_key": "pack_objects_into_box",
-      "subtask_id": "S3",
-      "start_frame": 149,
-      "end_frame": 254,
-      "segment_index": 28,
-      "boundary_tolerance_frames": 13,
-      "task_index": 7,
-      "source_task_key": "pack_objects_into_box",
-      "semantic_id": "pack_objects_into_box/S3",
-      "subtask_text_en": "Place the hammer into the box.",
-      "subtask_text_zh": "将锤子放入盒子。",
-      "inclusive_end_frame": 253,
-      "global_start_index": 4219,
-      "global_end_index": 4324,
-      "start_timestamp_seconds": 5.96,
-      "end_timestamp_seconds": 10.16,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 7,
-      "task_key": "pack_objects_into_box",
-      "subtask_id": "S4",
-      "start_frame": 254,
-      "end_frame": 319,
-      "segment_index": 29,
-      "boundary_tolerance_frames": 13,
-      "task_index": 7,
-      "source_task_key": "pack_objects_into_box",
-      "semantic_id": "pack_objects_into_box/S4",
-      "subtask_text_en": "Place the toothbrush into the box.",
-      "subtask_text_zh": "将牙刷放入盒子。",
-      "inclusive_end_frame": 318,
-      "global_start_index": 4324,
-      "global_end_index": 4389,
-      "start_timestamp_seconds": 10.16,
-      "end_timestamp_seconds": 12.76,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 7,
-      "task_key": "pack_objects_into_box",
-      "subtask_id": "S5",
-      "start_frame": 319,
-      "end_frame": 414,
-      "segment_index": 30,
-      "boundary_tolerance_frames": 13,
-      "task_index": 7,
-      "source_task_key": "pack_objects_into_box",
-      "semantic_id": "pack_objects_into_box/S5",
-      "subtask_text_en": "Place the toy car into the box.",
-      "subtask_text_zh": "将玩具车放入盒子。",
-      "inclusive_end_frame": 413,
-      "global_start_index": 4389,
-      "global_end_index": 4484,
-      "start_timestamp_seconds": 12.76,
-      "end_timestamp_seconds": 16.56,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 8,
-      "task_key": "play_stacking_toy",
-      "subtask_id": "S1",
-      "start_frame": 0,
-      "end_frame": 332,
-      "segment_index": 31,
-      "boundary_tolerance_frames": 13,
-      "task_index": 8,
-      "source_task_key": "play_stacking_toy",
-      "semantic_id": "play_stacking_toy/S1",
-      "subtask_text_en": "Place the four matching pieces on the longest peg.",
-      "subtask_text_zh": "将四个匹配配件放到最长柱子上。",
-      "inclusive_end_frame": 331,
-      "global_start_index": 4484,
-      "global_end_index": 4816,
-      "start_timestamp_seconds": 0.0,
-      "end_timestamp_seconds": 13.28,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 8,
-      "task_key": "play_stacking_toy",
-      "subtask_id": "S2",
-      "start_frame": 332,
-      "end_frame": 605,
-      "segment_index": 32,
-      "boundary_tolerance_frames": 13,
-      "task_index": 8,
-      "source_task_key": "play_stacking_toy",
-      "semantic_id": "play_stacking_toy/S2",
-      "subtask_text_en": "Place the three matching pieces on the second-longest peg.",
-      "subtask_text_zh": "将三个匹配配件放到第二长柱子上。",
-      "inclusive_end_frame": 604,
-      "global_start_index": 4816,
-      "global_end_index": 5089,
-      "start_timestamp_seconds": 13.28,
-      "end_timestamp_seconds": 24.2,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 8,
-      "task_key": "play_stacking_toy",
-      "subtask_id": "S3",
-      "start_frame": 605,
-      "end_frame": 774,
-      "segment_index": 33,
-      "boundary_tolerance_frames": 13,
-      "task_index": 8,
-      "source_task_key": "play_stacking_toy",
-      "semantic_id": "play_stacking_toy/S3",
-      "subtask_text_en": "Place the two matching pieces on the second-shortest peg.",
-      "subtask_text_zh": "将两个匹配配件放到第二短柱子上。",
-      "inclusive_end_frame": 773,
-      "global_start_index": 5089,
-      "global_end_index": 5258,
-      "start_timestamp_seconds": 24.2,
-      "end_timestamp_seconds": 30.96,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 8,
-      "task_key": "play_stacking_toy",
-      "subtask_id": "S4",
-      "start_frame": 774,
-      "end_frame": 888,
-      "segment_index": 34,
-      "boundary_tolerance_frames": 13,
-      "task_index": 8,
-      "source_task_key": "play_stacking_toy",
-      "semantic_id": "play_stacking_toy/S4",
-      "subtask_text_en": "Place the remaining piece on the shortest peg.",
-      "subtask_text_zh": "将剩余配件放到最短柱子上。",
-      "inclusive_end_frame": 887,
-      "global_start_index": 5258,
-      "global_end_index": 5372,
-      "start_timestamp_seconds": 30.96,
-      "end_timestamp_seconds": 35.52,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 9,
-      "task_key": "press_by_number",
-      "subtask_id": "S1",
-      "start_frame": 0,
-      "end_frame": 195,
-      "segment_index": 35,
-      "boundary_tolerance_frames": 13,
-      "task_index": 9,
-      "source_task_key": "press_by_number",
-      "semantic_id": "press_by_number/S1",
-      "subtask_text_en": "Press the first button the required number of times.",
-      "subtask_text_zh": "按要求次数按第一个按钮。",
-      "inclusive_end_frame": 194,
-      "global_start_index": 5372,
-      "global_end_index": 5567,
-      "start_timestamp_seconds": 0.0,
-      "end_timestamp_seconds": 7.8,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 9,
-      "task_key": "press_by_number",
-      "subtask_id": "S2",
-      "start_frame": 195,
-      "end_frame": 247,
-      "segment_index": 36,
-      "boundary_tolerance_frames": 13,
-      "task_index": 9,
-      "source_task_key": "press_by_number",
-      "semantic_id": "press_by_number/S2",
-      "subtask_text_en": "Press the blue button.",
-      "subtask_text_zh": "按蓝色按钮。",
-      "inclusive_end_frame": 246,
-      "global_start_index": 5567,
-      "global_end_index": 5619,
-      "start_timestamp_seconds": 7.8,
-      "end_timestamp_seconds": 9.88,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 9,
-      "task_key": "press_by_number",
-      "subtask_id": "S3",
-      "start_frame": 247,
-      "end_frame": 312,
-      "segment_index": 37,
-      "boundary_tolerance_frames": 13,
-      "task_index": 9,
-      "source_task_key": "press_by_number",
-      "semantic_id": "press_by_number/S3",
-      "subtask_text_en": "Press the second button the required number of times.",
-      "subtask_text_zh": "按要求次数按第二个按钮。",
-      "inclusive_end_frame": 311,
-      "global_start_index": 5619,
-      "global_end_index": 5684,
-      "start_timestamp_seconds": 9.88,
-      "end_timestamp_seconds": 12.48,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 9,
-      "task_key": "press_by_number",
-      "subtask_id": "S4",
-      "start_frame": 312,
-      "end_frame": 378,
-      "segment_index": 38,
-      "boundary_tolerance_frames": 13,
-      "task_index": 9,
-      "source_task_key": "press_by_number",
-      "semantic_id": "press_by_number/S4",
-      "subtask_text_en": "Press the blue button again.",
-      "subtask_text_zh": "再次按蓝色按钮。",
-      "inclusive_end_frame": 377,
-      "global_start_index": 5684,
-      "global_end_index": 5750,
-      "start_timestamp_seconds": 12.48,
-      "end_timestamp_seconds": 15.12,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 10,
-      "task_key": "put_bottles_into_dustbin",
-      "subtask_id": "S1",
-      "start_frame": 0,
-      "end_frame": 58,
-      "segment_index": 39,
-      "boundary_tolerance_frames": 13,
-      "task_index": 10,
-      "source_task_key": "put_bottles_into_dustbin",
-      "semantic_id": "put_bottles_into_dustbin/S1",
-      "subtask_text_en": "Place the first bottle in the dustbin.",
-      "subtask_text_zh": "将第一个瓶子放入垃圾桶。",
-      "inclusive_end_frame": 57,
-      "global_start_index": 5750,
-      "global_end_index": 5808,
-      "start_timestamp_seconds": 0.0,
-      "end_timestamp_seconds": 2.32,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 10,
-      "task_key": "put_bottles_into_dustbin",
-      "subtask_id": "S2",
-      "start_frame": 58,
-      "end_frame": 124,
-      "segment_index": 40,
-      "boundary_tolerance_frames": 13,
-      "task_index": 10,
-      "source_task_key": "put_bottles_into_dustbin",
-      "semantic_id": "put_bottles_into_dustbin/S2",
-      "subtask_text_en": "Place the second bottle in the dustbin.",
-      "subtask_text_zh": "将第二个瓶子放入垃圾桶。",
-      "inclusive_end_frame": 123,
-      "global_start_index": 5808,
-      "global_end_index": 5874,
-      "start_timestamp_seconds": 2.32,
-      "end_timestamp_seconds": 4.96,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 10,
-      "task_key": "put_bottles_into_dustbin",
-      "subtask_id": "S3",
-      "start_frame": 124,
-      "end_frame": 201,
-      "segment_index": 41,
-      "boundary_tolerance_frames": 13,
-      "task_index": 10,
-      "source_task_key": "put_bottles_into_dustbin",
-      "semantic_id": "put_bottles_into_dustbin/S3",
-      "subtask_text_en": "Place the third bottle in the dustbin.",
-      "subtask_text_zh": "将第三个瓶子放入垃圾桶。",
-      "inclusive_end_frame": 200,
-      "global_start_index": 5874,
-      "global_end_index": 5951,
-      "start_timestamp_seconds": 4.96,
-      "end_timestamp_seconds": 8.04,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 10,
-      "task_key": "put_bottles_into_dustbin",
-      "subtask_id": "S4",
-      "start_frame": 201,
-      "end_frame": 363,
-      "segment_index": 42,
-      "boundary_tolerance_frames": 13,
-      "task_index": 10,
-      "source_task_key": "put_bottles_into_dustbin",
-      "semantic_id": "put_bottles_into_dustbin/S4",
-      "subtask_text_en": "Place the last bottle in the dustbin.",
-      "subtask_text_zh": "将最后一个瓶子放入垃圾桶。",
-      "inclusive_end_frame": 362,
-      "global_start_index": 5951,
-      "global_end_index": 6113,
-      "start_timestamp_seconds": 8.04,
-      "end_timestamp_seconds": 14.52,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 11,
-      "task_key": "stack_blocks",
-      "subtask_id": "S1",
-      "start_frame": 0,
-      "end_frame": 98,
-      "segment_index": 43,
-      "boundary_tolerance_frames": 13,
-      "task_index": 11,
-      "source_task_key": "stack_blocks",
-      "semantic_id": "stack_blocks/S1",
-      "subtask_text_en": "Place the first block in the center of the table.",
-      "subtask_text_zh": "将第一块积木放到桌面中央。",
-      "inclusive_end_frame": 97,
-      "global_start_index": 6113,
-      "global_end_index": 6211,
-      "start_timestamp_seconds": 0.0,
-      "end_timestamp_seconds": 3.92,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 11,
-      "task_key": "stack_blocks",
-      "subtask_id": "S2",
-      "start_frame": 98,
-      "end_frame": 175,
-      "segment_index": 44,
-      "boundary_tolerance_frames": 13,
-      "task_index": 11,
-      "source_task_key": "stack_blocks",
-      "semantic_id": "stack_blocks/S2",
-      "subtask_text_en": "Place the second block on the first block.",
-      "subtask_text_zh": "将第二块积木放到第一块上。",
-      "inclusive_end_frame": 174,
-      "global_start_index": 6211,
-      "global_end_index": 6288,
-      "start_timestamp_seconds": 3.92,
-      "end_timestamp_seconds": 7.0,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 11,
-      "task_key": "stack_blocks",
-      "subtask_id": "S3",
-      "start_frame": 175,
-      "end_frame": 268,
-      "segment_index": 45,
-      "boundary_tolerance_frames": 13,
-      "task_index": 11,
-      "source_task_key": "stack_blocks",
-      "semantic_id": "stack_blocks/S3",
-      "subtask_text_en": "Place the third block on the second block.",
-      "subtask_text_zh": "将第三块积木放到第二块上。",
-      "inclusive_end_frame": 267,
-      "global_start_index": 6288,
-      "global_end_index": 6381,
-      "start_timestamp_seconds": 7.0,
-      "end_timestamp_seconds": 10.72,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 12,
-      "task_key": "store_laptop_and_headphones",
-      "subtask_id": "S1",
-      "start_frame": 0,
-      "end_frame": 111,
-      "segment_index": 46,
-      "boundary_tolerance_frames": 13,
-      "task_index": 12,
-      "source_task_key": "store_laptop_and_headphones",
-      "semantic_id": "store_laptop_and_headphones/S1",
-      "subtask_text_en": "Place the headphones on the headphone stand.",
-      "subtask_text_zh": "将耳机放到耳机架上。",
-      "inclusive_end_frame": 110,
-      "global_start_index": 6381,
-      "global_end_index": 6492,
-      "start_timestamp_seconds": 0.0,
-      "end_timestamp_seconds": 4.44,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 12,
-      "task_key": "store_laptop_and_headphones",
-      "subtask_id": "S2",
-      "start_frame": 111,
-      "end_frame": 211,
-      "segment_index": 47,
-      "boundary_tolerance_frames": 13,
-      "task_index": 12,
-      "source_task_key": "store_laptop_and_headphones",
-      "semantic_id": "store_laptop_and_headphones/S2",
-      "subtask_text_en": "Close the laptop.",
-      "subtask_text_zh": "合上笔记本电脑。",
-      "inclusive_end_frame": 210,
-      "global_start_index": 6492,
-      "global_end_index": 6592,
-      "start_timestamp_seconds": 4.44,
-      "end_timestamp_seconds": 8.44,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 12,
-      "task_key": "store_laptop_and_headphones",
-      "subtask_id": "S3",
-      "start_frame": 211,
-      "end_frame": 551,
-      "segment_index": 48,
-      "boundary_tolerance_frames": 13,
-      "task_index": 12,
-      "source_task_key": "store_laptop_and_headphones",
-      "semantic_id": "store_laptop_and_headphones/S3",
-      "subtask_text_en": "Place the closed laptop in the laptop stand.",
-      "subtask_text_zh": "将合上的笔记本电脑放入电脑支架。",
-      "inclusive_end_frame": 550,
-      "global_start_index": 6592,
-      "global_end_index": 6932,
-      "start_timestamp_seconds": 8.44,
-      "end_timestamp_seconds": 22.04,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 13,
-      "task_key": "swap_blocks",
-      "subtask_id": "S1",
-      "start_frame": 0,
-      "end_frame": 91,
-      "segment_index": 49,
-      "boundary_tolerance_frames": 13,
-      "task_index": 13,
-      "source_task_key": "swap_blocks",
-      "semantic_id": "swap_blocks/S1",
-      "subtask_text_en": "Put the first block on the empty mat.",
-      "subtask_text_zh": "将第一块积木放到空垫子上。",
-      "inclusive_end_frame": 90,
-      "global_start_index": 6932,
-      "global_end_index": 7023,
-      "start_timestamp_seconds": 0.0,
-      "end_timestamp_seconds": 3.64,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 13,
-      "task_key": "swap_blocks",
-      "subtask_id": "S2",
-      "start_frame": 91,
-      "end_frame": 143,
-      "segment_index": 50,
-      "boundary_tolerance_frames": 13,
-      "task_index": 13,
-      "source_task_key": "swap_blocks",
-      "semantic_id": "swap_blocks/S2",
-      "subtask_text_en": "Press the button to confirm the first move.",
-      "subtask_text_zh": "按按钮确认第一次移动。",
-      "inclusive_end_frame": 142,
-      "global_start_index": 7023,
-      "global_end_index": 7075,
-      "start_timestamp_seconds": 3.64,
-      "end_timestamp_seconds": 5.72,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 13,
-      "task_key": "swap_blocks",
-      "subtask_id": "S3",
-      "start_frame": 143,
-      "end_frame": 234,
-      "segment_index": 51,
-      "boundary_tolerance_frames": 13,
-      "task_index": 13,
-      "source_task_key": "swap_blocks",
-      "semantic_id": "swap_blocks/S3",
-      "subtask_text_en": "Transfer the second block onto the original first block’s position.",
-      "subtask_text_zh": "将第二块积木移到第一块积木的原位置。",
-      "inclusive_end_frame": 233,
-      "global_start_index": 7075,
-      "global_end_index": 7166,
-      "start_timestamp_seconds": 5.72,
-      "end_timestamp_seconds": 9.36,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 13,
-      "task_key": "swap_blocks",
-      "subtask_id": "S4",
-      "start_frame": 234,
-      "end_frame": 286,
-      "segment_index": 52,
-      "boundary_tolerance_frames": 13,
-      "task_index": 13,
-      "source_task_key": "swap_blocks",
-      "semantic_id": "swap_blocks/S4",
-      "subtask_text_en": "Press the button to confirm the second move.",
-      "subtask_text_zh": "按按钮确认第二次移动。",
-      "inclusive_end_frame": 285,
-      "global_start_index": 7166,
-      "global_end_index": 7218,
-      "start_timestamp_seconds": 9.36,
-      "end_timestamp_seconds": 11.44,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 13,
-      "task_key": "swap_blocks",
-      "subtask_id": "S5",
-      "start_frame": 286,
-      "end_frame": 377,
-      "segment_index": 53,
-      "boundary_tolerance_frames": 13,
-      "task_index": 13,
-      "source_task_key": "swap_blocks",
-      "semantic_id": "swap_blocks/S5",
-      "subtask_text_en": "Put the first block on the original second block’s mat.",
-      "subtask_text_zh": "将第一块积木放到第二块积木原先所在的垫子上。",
-      "inclusive_end_frame": 376,
-      "global_start_index": 7218,
-      "global_end_index": 7309,
-      "start_timestamp_seconds": 11.44,
-      "end_timestamp_seconds": 15.08,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 13,
-      "task_key": "swap_blocks",
-      "subtask_id": "S6",
-      "start_frame": 377,
-      "end_frame": 445,
-      "segment_index": 54,
-      "boundary_tolerance_frames": 13,
-      "task_index": 13,
-      "source_task_key": "swap_blocks",
-      "semantic_id": "swap_blocks/S6",
-      "subtask_text_en": "Press the button to confirm the last move.",
-      "subtask_text_zh": "按按钮确认最后一次移动。",
-      "inclusive_end_frame": 444,
-      "global_start_index": 7309,
-      "global_end_index": 7377,
-      "start_timestamp_seconds": 15.08,
-      "end_timestamp_seconds": 17.8,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 14,
-      "task_key": "sweep_blocks",
-      "subtask_id": "S1",
-      "start_frame": 0,
-      "end_frame": 214,
-      "segment_index": 55,
-      "boundary_tolerance_frames": 13,
-      "task_index": 14,
-      "source_task_key": "sweep_objects",
-      "semantic_id": "sweep_blocks/S1",
-      "subtask_text_en": "Pick up the broom.",
-      "subtask_text_zh": "拿起扫帚。",
-      "inclusive_end_frame": 213,
-      "global_start_index": 7377,
-      "global_end_index": 7591,
-      "start_timestamp_seconds": 0.0,
-      "end_timestamp_seconds": 8.56,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 14,
-      "task_key": "sweep_blocks",
-      "subtask_id": "S2",
-      "start_frame": 214,
-      "end_frame": 381,
-      "segment_index": 56,
-      "boundary_tolerance_frames": 13,
-      "task_index": 14,
-      "source_task_key": "sweep_objects",
-      "semantic_id": "sweep_blocks/S2",
-      "subtask_text_en": "Pick up the dustpan.",
-      "subtask_text_zh": "拿起簸箕。",
-      "inclusive_end_frame": 380,
-      "global_start_index": 7591,
-      "global_end_index": 7758,
-      "start_timestamp_seconds": 8.56,
-      "end_timestamp_seconds": 15.24,
-      "annotation_status": "user_confirmed_release"
-    },
-    {
-      "episode_index": 14,
-      "task_key": "sweep_blocks",
-      "subtask_id": "S3",
-      "start_frame": 381,
-      "end_frame": 703,
-      "segment_index": 57,
-      "boundary_tolerance_frames": 13,
-      "task_index": 14,
-      "source_task_key": "sweep_objects",
-      "semantic_id": "sweep_blocks/S3",
-      "subtask_text_en": "Sweep all objects into the dustpan.",
-      "subtask_text_zh": "将全部物体扫入簸箕。",
-      "inclusive_end_frame": 702,
-      "global_start_index": 7758,
-      "global_end_index": 8080,
-      "start_timestamp_seconds": 15.24,
-      "end_timestamp_seconds": 28.12,
-      "annotation_status": "user_confirmed_release"
-    }
-  ]
-}
diff --git a/data/simulation/one-shot/annotations/subtasks/segments.parquet b/data/simulation/one-shot/annotations/subtasks/segments.parquet
deleted file mode 100644
index 476155bb949668553e5ef888e56e4244383d6247..0000000000000000000000000000000000000000
--- a/data/simulation/one-shot/annotations/subtasks/segments.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b59c48d8fe127b5e709cece59194c34d8b4b11d20b783d7e027d4f3d271ba059
-size 12243
diff --git a/data/simulation/one-shot/annotations/subtasks/taxonomy.json b/data/simulation/one-shot/annotations/subtasks/taxonomy.json
deleted file mode 100644
index 5234f4d2fc58e2f69a43ceea5a667f101df79279..0000000000000000000000000000000000000000
--- a/data/simulation/one-shot/annotations/subtasks/taxonomy.json
+++ /dev/null
@@ -1,528 +0,0 @@
-{
-  "schema_version": 1,
-  "paper": {
-    "url": "https://arxiv.org/abs/2610.26663",
-    "revision": "2610.26663v1",
-    "section": "C.2 Task Descriptions and Subtask Decomposition"
-  },
-  "task_count": 15,
-  "subtask_count": 58,
-  "english_labels": "Verbatim printed S definitions; PDF line wrapping removed.",
-  "chinese_labels": "Translations of the English subtask definitions.",
-  "semantic_id_convention": "task_key/Sn; identifies a semantic subtask, not a universal execution-order counter",
-  "tasks": [
-    {
-      "episode_index": 0,
-      "task_index": 0,
-      "task_key": "arrange_largest_number",
-      "source_task_key": "arrange_largest_number",
-      "paper_title_en": "Arrange Largest Number",
-      "task_name_zh": "排列数字组成最大数",
-      "paper_pdf_page": 29,
-      "subtasks": [
-        {
-          "id": "S1",
-          "semantic_id": "arrange_largest_number/S1",
-          "paper_text_en": "Place the largest number on the leftmost mat.",
-          "translation_zh": "将最大的数字放到最左侧垫子。"
-        },
-        {
-          "id": "S2",
-          "semantic_id": "arrange_largest_number/S2",
-          "paper_text_en": "Place the largest number outside the mats on the second mat from the left.",
-          "translation_zh": "将垫子外最大的数字放到左起第二个垫子。"
-        },
-        {
-          "id": "S3",
-          "semantic_id": "arrange_largest_number/S3",
-          "paper_text_en": "Place the largest number outside the mats on the third mat from the left.",
-          "translation_zh": "将垫子外最大的数字放到左起第三个垫子。"
-        },
-        {
-          "id": "S4",
-          "semantic_id": "arrange_largest_number/S4",
-          "paper_text_en": "Place the remaining number on the fourth mat from the left.",
-          "translation_zh": "将剩余数字放到左起第四个垫子。"
-        }
-      ]
-    },
-    {
-      "episode_index": 1,
-      "task_index": 1,
-      "task_key": "fill_pen_holder",
-      "source_task_key": "fill_pen_holder",
-      "paper_title_en": "Fill Pen Holder",
-      "task_name_zh": "装填笔筒",
-      "paper_pdf_page": 29,
-      "subtasks": [
-        {
-          "id": "S1",
-          "semantic_id": "fill_pen_holder/S1",
-          "paper_text_en": "Hold the empty pen holder.",
-          "translation_zh": "拿住空笔筒。"
-        },
-        {
-          "id": "S2",
-          "semantic_id": "fill_pen_holder/S2",
-          "paper_text_en": "Insert the first selected pen into the pen holder.",
-          "translation_zh": "将第一支选中的笔插入笔筒。"
-        },
-        {
-          "id": "S3",
-          "semantic_id": "fill_pen_holder/S3",
-          "paper_text_en": "Insert the second selected pen into the pen holder.",
-          "translation_zh": "将第二支选中的笔插入笔筒。"
-        },
-        {
-          "id": "S4",
-          "semantic_id": "fill_pen_holder/S4",
-          "paper_text_en": "Insert the third selected pen into the pen holder.",
-          "translation_zh": "将第三支选中的笔插入笔筒。"
-        },
-        {
-          "id": "S5",
-          "semantic_id": "fill_pen_holder/S5",
-          "paper_text_en": "Insert the remaining pen into the pen holder.",
-          "translation_zh": "将剩余的一支笔插入笔筒。"
-        },
-        {
-          "id": "S6",
-          "semantic_id": "fill_pen_holder/S6",
-          "paper_text_en": "Place the filled pen holder upright on the table.",
-          "translation_zh": "将装满的笔筒直立放在桌上。"
-        }
-      ]
-    },
-    {
-      "episode_index": 2,
-      "task_index": 2,
-      "task_key": "fold_clothes",
-      "source_task_key": "fold_clothes",
-      "paper_title_en": "Fold Clothes",
-      "task_name_zh": "折叠衣物",
-      "paper_pdf_page": 30,
-      "subtasks": [
-        {
-          "id": "S1",
-          "semantic_id": "fold_clothes/S1",
-          "paper_text_en": "Fold the left sleeve inward.",
-          "translation_zh": "将左袖向内折。"
-        },
-        {
-          "id": "S2",
-          "semantic_id": "fold_clothes/S2",
-          "paper_text_en": "Fold the right sleeve inward.",
-          "translation_zh": "将右袖向内折。"
-        },
-        {
-          "id": "S3",
-          "semantic_id": "fold_clothes/S3",
-          "paper_text_en": "Fold the lower half of the garment over the upper half.",
-          "translation_zh": "将衣物下半部分折到上半部分之上。"
-        }
-      ]
-    },
-    {
-      "episode_index": 3,
-      "task_index": 3,
-      "task_key": "hang_mugs",
-      "source_task_key": "hang_mugs",
-      "paper_title_en": "Hang Mugs",
-      "task_name_zh": "悬挂马克杯",
-      "paper_pdf_page": 30,
-      "subtasks": [
-        {
-          "id": "S1",
-          "semantic_id": "hang_mugs/S1",
-          "paper_text_en": "Hang the first cup on an empty hook.",
-          "translation_zh": "将第一个杯子挂在空挂钩上。"
-        },
-        {
-          "id": "S2",
-          "semantic_id": "hang_mugs/S2",
-          "paper_text_en": "Hang the second cup on another empty hook.",
-          "translation_zh": "将第二个杯子挂在另一个空挂钩上。"
-        },
-        {
-          "id": "S3",
-          "semantic_id": "hang_mugs/S3",
-          "paper_text_en": "Hang the third cup on the remaining empty hook.",
-          "translation_zh": "将第三个杯子挂在剩余空挂钩上。"
-        }
-      ]
-    },
-    {
-      "episode_index": 4,
-      "task_index": 4,
-      "task_key": "insert_tubes",
-      "source_task_key": "insert_tubes",
-      "paper_title_en": "Insert Tubes",
-      "task_name_zh": "插入管子",
-      "paper_pdf_page": 31,
-      "subtasks": [
-        {
-          "id": "S1",
-          "semantic_id": "insert_tubes/S1",
-          "paper_text_en": "Insert the first tube into an empty slot.",
-          "translation_zh": "将第一根管插入空槽。"
-        },
-        {
-          "id": "S2",
-          "semantic_id": "insert_tubes/S2",
-          "paper_text_en": "Insert the second tube into another empty slot.",
-          "translation_zh": "将第二根管插入另一个空槽。"
-        },
-        {
-          "id": "S3",
-          "semantic_id": "insert_tubes/S3",
-          "paper_text_en": "Insert the third tube into the remaining empty slot.",
-          "translation_zh": "将第三根管插入剩余空槽。"
-        }
-      ]
-    },
-    {
-      "episode_index": 5,
-      "task_index": 5,
-      "task_key": "make_toast",
-      "source_task_key": "make_toast",
-      "paper_title_en": "Make Toast",
-      "task_name_zh": "制作吐司",
-      "paper_pdf_page": 31,
-      "subtasks": [
-        {
-          "id": "S1",
-          "semantic_id": "make_toast/S1",
-          "paper_text_en": "Insert the first bread slice into one toaster slot.",
-          "translation_zh": "将第一片面包插入一个烤面包机槽。"
-        },
-        {
-          "id": "S2",
-          "semantic_id": "make_toast/S2",
-          "paper_text_en": "Insert the second bread slice into the remaining toaster slot.",
-          "translation_zh": "将第二片面包插入剩余烤面包机槽。"
-        },
-        {
-          "id": "S3",
-          "semantic_id": "make_toast/S3",
-          "paper_text_en": "Press the toaster lever down.",
-          "translation_zh": "按下烤面包机拉杆。"
-        }
-      ]
-    },
-    {
-      "episode_index": 6,
-      "task_index": 6,
-      "task_key": "organize_table",
-      "source_task_key": "organize_table",
-      "paper_title_en": "Organize Table",
-      "task_name_zh": "整理桌面",
-      "paper_pdf_page": 32,
-      "subtasks": [
-        {
-          "id": "S1",
-          "semantic_id": "organize_table/S1",
-          "paper_text_en": "Place the alarm clock on top of the drawer.",
-          "translation_zh": "将闹钟放到抽屉顶部。"
-        },
-        {
-          "id": "S2",
-          "semantic_id": "organize_table/S2",
-          "paper_text_en": "Place the figurine on the stand.",
-          "translation_zh": "将摆件放到支架上。"
-        },
-        {
-          "id": "S3",
-          "semantic_id": "organize_table/S3",
-          "paper_text_en": "Place the mouse on the mouse pad.",
-          "translation_zh": "将鼠标放到鼠标垫上。"
-        },
-        {
-          "id": "S4",
-          "semantic_id": "organize_table/S4",
-          "paper_text_en": "Insert the keyboard into the frame.",
-          "translation_zh": "将键盘推入框架。"
-        }
-      ]
-    },
-    {
-      "episode_index": 7,
-      "task_index": 7,
-      "task_key": "pack_objects_into_box",
-      "source_task_key": "pack_objects_into_box",
-      "paper_title_en": "Pack Objects Into Box",
-      "task_name_zh": "将物品装入盒中",
-      "paper_pdf_page": 33,
-      "subtasks": [
-        {
-          "id": "S1",
-          "semantic_id": "pack_objects_into_box/S1",
-          "paper_text_en": "Clear the center of the table, then place the box in the center of the table.",
-          "translation_zh": "清空桌面中央，再将盒子放到桌面中央。"
-        },
-        {
-          "id": "S2",
-          "semantic_id": "pack_objects_into_box/S2",
-          "paper_text_en": "Place the shoe into the box.",
-          "translation_zh": "将鞋放入盒子。"
-        },
-        {
-          "id": "S3",
-          "semantic_id": "pack_objects_into_box/S3",
-          "paper_text_en": "Place the hammer into the box.",
-          "translation_zh": "将锤子放入盒子。"
-        },
-        {
-          "id": "S4",
-          "semantic_id": "pack_objects_into_box/S4",
-          "paper_text_en": "Place the toothbrush into the box.",
-          "translation_zh": "将牙刷放入盒子。"
-        },
-        {
-          "id": "S5",
-          "semantic_id": "pack_objects_into_box/S5",
-          "paper_text_en": "Place the toy car into the box.",
-          "translation_zh": "将玩具车放入盒子。"
-        }
-      ]
-    },
-    {
-      "episode_index": 8,
-      "task_index": 8,
-      "task_key": "play_stacking_toy",
-      "source_task_key": "play_stacking_toy",
-      "paper_title_en": "Play Stacking Toy",
-      "task_name_zh": "操作堆叠玩具",
-      "paper_pdf_page": 34,
-      "subtasks": [
-        {
-          "id": "S1",
-          "semantic_id": "play_stacking_toy/S1",
-          "paper_text_en": "Place the four matching pieces on the longest peg.",
-          "translation_zh": "将四个匹配配件放到最长柱子上。"
-        },
-        {
-          "id": "S2",
-          "semantic_id": "play_stacking_toy/S2",
-          "paper_text_en": "Place the three matching pieces on the second-longest peg.",
-          "translation_zh": "将三个匹配配件放到第二长柱子上。"
-        },
-        {
-          "id": "S3",
-          "semantic_id": "play_stacking_toy/S3",
-          "paper_text_en": "Place the two matching pieces on the second-shortest peg.",
-          "translation_zh": "将两个匹配配件放到第二短柱子上。"
-        },
-        {
-          "id": "S4",
-          "semantic_id": "play_stacking_toy/S4",
-          "paper_text_en": "Place the remaining piece on the shortest peg.",
-          "translation_zh": "将剩余配件放到最短柱子上。"
-        }
-      ]
-    },
-    {
-      "episode_index": 9,
-      "task_index": 9,
-      "task_key": "press_by_number",
-      "source_task_key": "press_by_number",
-      "paper_title_en": "Press By Number",
-      "task_name_zh": "依照数字按按钮",
-      "paper_pdf_page": 32,
-      "subtasks": [
-        {
-          "id": "S1",
-          "semantic_id": "press_by_number/S1",
-          "paper_text_en": "Press the first button the required number of times.",
-          "translation_zh": "按要求次数按第一个按钮。"
-        },
-        {
-          "id": "S2",
-          "semantic_id": "press_by_number/S2",
-          "paper_text_en": "Press the blue button.",
-          "translation_zh": "按蓝色按钮。"
-        },
-        {
-          "id": "S3",
-          "semantic_id": "press_by_number/S3",
-          "paper_text_en": "Press the second button the required number of times.",
-          "translation_zh": "按要求次数按第二个按钮。"
-        },
-        {
-          "id": "S4",
-          "semantic_id": "press_by_number/S4",
-          "paper_text_en": "Press the blue button again.",
-          "translation_zh": "再次按蓝色按钮。"
-        }
-      ]
-    },
-    {
-      "episode_index": 10,
-      "task_index": 10,
-      "task_key": "put_bottles_into_dustbin",
-      "source_task_key": "put_bottles_into_dustbin",
-      "paper_title_en": "Put Bottles Into Dustbin",
-      "task_name_zh": "将瓶子放入垃圾桶",
-      "paper_pdf_page": 33,
-      "subtasks": [
-        {
-          "id": "S1",
-          "semantic_id": "put_bottles_into_dustbin/S1",
-          "paper_text_en": "Place the first bottle in the dustbin.",
-          "translation_zh": "将第一个瓶子放入垃圾桶。"
-        },
-        {
-          "id": "S2",
-          "semantic_id": "put_bottles_into_dustbin/S2",
-          "paper_text_en": "Place the second bottle in the dustbin.",
-          "translation_zh": "将第二个瓶子放入垃圾桶。"
-        },
-        {
-          "id": "S3",
-          "semantic_id": "put_bottles_into_dustbin/S3",
-          "paper_text_en": "Place the third bottle in the dustbin.",
-          "translation_zh": "将第三个瓶子放入垃圾桶。"
-        },
-        {
-          "id": "S4",
-          "semantic_id": "put_bottles_into_dustbin/S4",
-          "paper_text_en": "Place the last bottle in the dustbin.",
-          "translation_zh": "将最后一个瓶子放入垃圾桶。"
-        }
-      ]
-    },
-    {
-      "episode_index": 11,
-      "task_index": 11,
-      "task_key": "stack_blocks",
-      "source_task_key": "stack_blocks",
-      "paper_title_en": "Stack Blocks",
-      "task_name_zh": "堆叠积木",
-      "paper_pdf_page": 34,
-      "subtasks": [
-        {
-          "id": "S1",
-          "semantic_id": "stack_blocks/S1",
-          "paper_text_en": "Place the first block in the center of the table.",
-          "translation_zh": "将第一块积木放到桌面中央。"
-        },
-        {
-          "id": "S2",
-          "semantic_id": "stack_blocks/S2",
-          "paper_text_en": "Place the second block on the first block.",
-          "translation_zh": "将第二块积木放到第一块上。"
-        },
-        {
-          "id": "S3",
-          "semantic_id": "stack_blocks/S3",
-          "paper_text_en": "Place the third block on the second block.",
-          "translation_zh": "将第三块积木放到第二块上。"
-        }
-      ]
-    },
-    {
-      "episode_index": 12,
-      "task_index": 12,
-      "task_key": "store_laptop_and_headphones",
-      "source_task_key": "store_laptop_and_headphones",
-      "paper_title_en": "Store Laptop And Headphones",
-      "task_name_zh": "收纳笔记本电脑与耳机",
-      "paper_pdf_page": 35,
-      "subtasks": [
-        {
-          "id": "S1",
-          "semantic_id": "store_laptop_and_headphones/S1",
-          "paper_text_en": "Place the headphones on the headphone stand.",
-          "translation_zh": "将耳机放到耳机架上。"
-        },
-        {
-          "id": "S2",
-          "semantic_id": "store_laptop_and_headphones/S2",
-          "paper_text_en": "Close the laptop.",
-          "translation_zh": "合上笔记本电脑。"
-        },
-        {
-          "id": "S3",
-          "semantic_id": "store_laptop_and_headphones/S3",
-          "paper_text_en": "Place the closed laptop in the laptop stand.",
-          "translation_zh": "将合上的笔记本电脑放入电脑支架。"
-        }
-      ]
-    },
-    {
-      "episode_index": 13,
-      "task_index": 13,
-      "task_key": "swap_blocks",
-      "source_task_key": "swap_blocks",
-      "paper_title_en": "Swap Blocks",
-      "task_name_zh": "交换积木位置",
-      "paper_pdf_page": 35,
-      "subtasks": [
-        {
-          "id": "S1",
-          "semantic_id": "swap_blocks/S1",
-          "paper_text_en": "Put the first block on the empty mat.",
-          "translation_zh": "将第一块积木放到空垫子上。"
-        },
-        {
-          "id": "S2",
-          "semantic_id": "swap_blocks/S2",
-          "paper_text_en": "Press the button to confirm the first move.",
-          "translation_zh": "按按钮确认第一次移动。"
-        },
-        {
-          "id": "S3",
-          "semantic_id": "swap_blocks/S3",
-          "paper_text_en": "Transfer the second block onto the original first block’s position.",
-          "translation_zh": "将第二块积木移到第一块积木的原位置。"
-        },
-        {
-          "id": "S4",
-          "semantic_id": "swap_blocks/S4",
-          "paper_text_en": "Press the button to confirm the second move.",
-          "translation_zh": "按按钮确认第二次移动。"
-        },
-        {
-          "id": "S5",
-          "semantic_id": "swap_blocks/S5",
-          "paper_text_en": "Put the first block on the original second block’s mat.",
-          "translation_zh": "将第一块积木放到第二块积木原先所在的垫子上。"
-        },
-        {
-          "id": "S6",
-          "semantic_id": "swap_blocks/S6",
-          "paper_text_en": "Press the button to confirm the last move.",
-          "translation_zh": "按按钮确认最后一次移动。"
-        }
-      ]
-    },
-    {
-      "episode_index": 14,
-      "task_index": 14,
-      "task_key": "sweep_blocks",
-      "source_task_key": "sweep_objects",
-      "paper_title_en": "Sweep Blocks",
-      "task_name_zh": "清扫积木",
-      "paper_pdf_page": 36,
-      "subtasks": [
-        {
-          "id": "S1",
-          "semantic_id": "sweep_blocks/S1",
-          "paper_text_en": "Pick up the broom.",
-          "translation_zh": "拿起扫帚。"
-        },
-        {
-          "id": "S2",
-          "semantic_id": "sweep_blocks/S2",
-          "paper_text_en": "Pick up the dustpan.",
-          "translation_zh": "拿起簸箕。"
-        },
-        {
-          "id": "S3",
-          "semantic_id": "sweep_blocks/S3",
-          "paper_text_en": "Sweep all objects into the dustpan.",
-          "translation_zh": "将全部物体扫入簸箕。"
-        }
-      ]
-    }
-  ]
-}
diff --git a/data/simulation/one-shot/annotations/subtasks/validation.json b/data/simulation/one-shot/annotations/subtasks/validation.json
deleted file mode 100644
index 45fbf5c2c5f46c25ab171dcc3d2c1fd812979759..0000000000000000000000000000000000000000
--- a/data/simulation/one-shot/annotations/subtasks/validation.json
+++ /dev/null
@@ -1,71 +0,0 @@
-{
-  "schema_version": 1,
-  "status": "passed",
-  "annotation_status": "user_confirmed_release",
-  "annotation_revision": 2,
-  "source_dataset": {
-    "repo_id": "wzlllong/value-model-benchmark-training-data",
-    "subtree": "data/simulation/one-shot",
-    "data_revision": "43ae4845fe0461c66aa59a0ee441185d99fb05f8",
-    "source_subtree_tree_id": "837e271aac36ea3eea72599ab5bca86db64bb025"
-  },
-  "checks": {
-    "episodes": 15,
-    "segments": 58,
-    "paper_subtasks": 58,
-    "frame_rows": 8080,
-    "all_labels_are_paper_subtasks": true,
-    "gaps": 0,
-    "overlaps": 0,
-    "frames_discarded": 0,
-    "unique_episode_frame_keys": true,
-    "continuous_global_index": true,
-    "complete_episode_coverage": true,
-    "taxonomy_text_matches_verified_transcription": true,
-    "public_field_allowlist": true
-  },
-  "specified_boundary_frame_labels": [
-    {
-      "episode_index": 9,
-      "frame_index": 0,
-      "subtask_id": "S1"
-    },
-    {
-      "episode_index": 9,
-      "frame_index": 12,
-      "subtask_id": "S1"
-    },
-    {
-      "episode_index": 12,
-      "frame_index": 210,
-      "subtask_id": "S2"
-    },
-    {
-      "episode_index": 12,
-      "frame_index": 211,
-      "subtask_id": "S3"
-    },
-    {
-      "episode_index": 14,
-      "frame_index": 213,
-      "subtask_id": "S1"
-    },
-    {
-      "episode_index": 14,
-      "frame_index": 214,
-      "subtask_id": "S2"
-    },
-    {
-      "episode_index": 14,
-      "frame_index": 380,
-      "subtask_id": "S2"
-    },
-    {
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-      "frame_index": 381,
-      "subtask_id": "S3"
-    }
-  ],
-  "verification_scope": "Annotation structural checks and accepted user boundary corrections; source revision is fixed. This release does not repeat a full source-video decoding or payload audit.",
-  "source_training_payload_modified": false
-}
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-{
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-  "robot_type": "unified_robot",
-  "fps": 25,
-  "chunks_size": 1000,
-  "data_files_size_in_mb": 100,
-  "video_files_size_in_mb": 200,
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-  "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
-  "features": {
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-          "left_joint_1",
-          "left_joint_2",
-          "left_joint_3",
-          "left_joint_4",
-          "left_joint_5",
-          "left_joint_6",
-          "right_joint_0",
-          "right_joint_1",
-          "right_joint_2",
-          "right_joint_3",
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