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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 482, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 568, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 569, "end_step": 602, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 603, "end_step": 628, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 629, "end_step": 724, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 725, "end_step": 780, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 822, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 946, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 947, "end_step": 990, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1020, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1021, "end_step": 1140, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 482, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 568, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 569, "end_step": 602, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 603, "end_step": 628, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 629, "end_step": 724, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 725, "end_step": 780, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 822, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 946, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 947, "end_step": 990, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1020, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1021, "end_step": 1140, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_11_09_39_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 365, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 366, "end_step": 565, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 566, "end_step": 615, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 640, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 641, "end_step": 765, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 830, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 831, "end_step": 870, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 1030, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1031, "end_step": 1085, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1086, "end_step": 1115, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1116, "end_step": 1200, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 365, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 366, "end_step": 565, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 566, "end_step": 615, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 640, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 641, "end_step": 765, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 830, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 831, "end_step": 870, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 1030, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1031, "end_step": 1085, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1086, "end_step": 1115, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1116, "end_step": 1200, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_25_38_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 15, "v40_language_source": "previous_published_lerobot", "episode_index": 9}
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 530, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 531, "end_step": 660, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 705, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 765, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 885, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 945, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 946, "end_step": 970, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 971, "end_step": 1110, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1111, "end_step": 1150, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1151, "end_step": 1210, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1211, "end_step": 1285, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 530, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 531, "end_step": 660, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 705, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 765, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 885, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 945, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 946, "end_step": 970, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 971, "end_step": 1110, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1111, "end_step": 1150, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1151, "end_step": 1210, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1211, "end_step": 1285, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_29_09_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 21, "v40_language_source": "previous_published_lerobot", "episode_index": 12}
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 380, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 381, "end_step": 565, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 566, "end_step": 610, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 611, "end_step": 630, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 780, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 830, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 831, "end_step": 860, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 861, "end_step": 1015, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1016, "end_step": 1060, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1061, "end_step": 1095, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1245, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 380, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 381, "end_step": 565, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 566, "end_step": 610, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 611, "end_step": 630, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 780, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 830, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 831, "end_step": 860, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 861, "end_step": 1015, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1016, "end_step": 1060, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1061, "end_step": 1095, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1245, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_34_13_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 430, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 545, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 546, "end_step": 590, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 625, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 626, "end_step": 765, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 825, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 965, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 966, "end_step": 1060, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1061, "end_step": 1085, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1086, "end_step": 1120, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1121, "end_step": 1215, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 430, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 545, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 546, "end_step": 590, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 625, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 626, "end_step": 765, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 825, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 965, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 966, "end_step": 1060, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1061, "end_step": 1085, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1086, "end_step": 1120, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1121, "end_step": 1215, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_35_09_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 25, "v40_language_source": "previous_published_lerobot", "episode_index": 15}
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 310, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 311, "end_step": 455, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 456, "end_step": 490, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 510, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 640, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 641, "end_step": 690, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 725, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 726, "end_step": 815, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 816, "end_step": 850, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 851, "end_step": 870, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 970, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 310, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 311, "end_step": 455, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 456, "end_step": 490, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 510, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 640, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 641, "end_step": 690, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 725, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 726, "end_step": 815, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 816, "end_step": 850, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 851, "end_step": 870, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 970, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_38_37_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 340, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 341, "end_step": 455, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 456, "end_step": 500, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 501, "end_step": 520, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 685, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 686, "end_step": 760, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 805, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 806, "end_step": 930, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 960, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 961, "end_step": 995, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 996, "end_step": 1060, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 340, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 341, "end_step": 455, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 456, "end_step": 500, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 501, "end_step": 520, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 685, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 686, "end_step": 760, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 805, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 806, "end_step": 930, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 960, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 961, "end_step": 995, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 996, "end_step": 1060, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_41_34_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 34, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 260, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 261, "end_step": 360, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 410, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 411, "end_step": 460, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 461, "end_step": 580, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 581, "end_step": 635, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 636, "end_step": 675, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 676, "end_step": 815, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 816, "end_step": 855, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 856, "end_step": 890, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 891, "end_step": 965, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 260, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 261, "end_step": 360, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 410, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 411, "end_step": 460, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 461, "end_step": 580, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 581, "end_step": 635, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 636, "end_step": 675, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 676, "end_step": 815, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 816, "end_step": 855, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 856, "end_step": 890, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 891, "end_step": 965, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_44_01_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 320, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 321, "end_step": 445, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 485, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 486, "end_step": 510, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 640, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 641, "end_step": 695, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 696, "end_step": 760, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 825, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 845, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 846, "end_step": 870, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 950, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 320, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 321, "end_step": 445, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 485, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 486, "end_step": 510, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 640, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 641, "end_step": 695, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 696, "end_step": 760, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 825, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 845, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 846, "end_step": 870, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 950, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_50_51_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 55, "v40_language_source": "previous_published_lerobot", "episode_index": 37}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/annotations.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b672b70fa6ac5d75031a988484fe5d063190cce5
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,38 @@
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 758, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 759, "end_step": 878, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 879, "end_step": 938, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 939, "end_step": 970, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 971, "end_step": 1028, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1029, "end_step": 1076, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1077, "end_step": 1096, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1097, "end_step": 1270, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1271, "end_step": 1312, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1313, "end_step": 1336, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1337, "end_step": 1552, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 758, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 759, "end_step": 878, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 879, "end_step": 938, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 939, "end_step": 970, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 971, "end_step": 1028, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1029, "end_step": 1076, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1077, "end_step": 1096, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1097, "end_step": 1270, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1271, "end_step": 1312, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1313, "end_step": 1336, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1337, "end_step": 1552, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_10_58_04_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 500, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 501, "end_step": 614, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 615, "end_step": 666, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 700, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 872, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 873, "end_step": 938, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 939, "end_step": 976, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 977, "end_step": 990, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1038, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1039, "end_step": 1086, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1184, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 500, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 501, "end_step": 614, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 615, "end_step": 666, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 700, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 872, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 873, "end_step": 938, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 939, "end_step": 976, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 977, "end_step": 990, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1038, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1039, "end_step": 1086, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1184, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_11_16_47_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 295, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 296, "end_step": 735, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 785, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 786, "end_step": 810, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 1035, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1110, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1111, "end_step": 1135, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1136, "end_step": 1560, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1561, "end_step": 1605, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1606, "end_step": 1625, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1626, "end_step": 1725, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 295, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 296, "end_step": 735, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 785, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 786, "end_step": 810, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 1035, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1110, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1111, "end_step": 1135, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1136, "end_step": 1560, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1561, "end_step": 1605, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1606, "end_step": 1625, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1626, "end_step": 1725, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_23_47_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 13, "v40_language_source": "previous_published_lerobot", "episode_index": 7}
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 440, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 441, "end_step": 535, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 536, "end_step": 605, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 606, "end_step": 620, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 621, "end_step": 755, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 756, "end_step": 845, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 846, "end_step": 880, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 1010, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1011, "end_step": 1045, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1046, "end_step": 1090, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1091, "end_step": 1165, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 440, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 441, "end_step": 535, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 536, "end_step": 605, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 606, "end_step": 620, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 621, "end_step": 755, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 756, "end_step": 845, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 846, "end_step": 880, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 1010, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1011, "end_step": 1045, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1046, "end_step": 1090, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1091, "end_step": 1165, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_26_26_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 400, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 401, "end_step": 510, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 550, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 551, "end_step": 590, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 720, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 790, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 791, "end_step": 880, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 1150, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1151, "end_step": 1205, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1206, "end_step": 1230, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1231, "end_step": 1295, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 400, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 401, "end_step": 510, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 550, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 551, "end_step": 590, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 720, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 790, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 791, "end_step": 880, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 1150, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1151, "end_step": 1205, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1206, "end_step": 1230, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1231, "end_step": 1295, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_30_56_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 430, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 545, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 546, "end_step": 590, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 625, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 626, "end_step": 765, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 825, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 965, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 966, "end_step": 1060, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1061, "end_step": 1085, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1086, "end_step": 1120, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1121, "end_step": 1215, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 430, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 545, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 546, "end_step": 590, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 625, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 626, "end_step": 765, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 825, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 965, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 966, "end_step": 1060, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1061, "end_step": 1085, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1086, "end_step": 1120, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1121, "end_step": 1215, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_35_09_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 420, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 590, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 630, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 660, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 825, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 850, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 851, "end_step": 910, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1000, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1001, "end_step": 1040, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1041, "end_step": 1065, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1066, "end_step": 1165, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 420, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 590, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 630, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 660, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 825, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 850, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 851, "end_step": 910, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1000, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1001, "end_step": 1040, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1041, "end_step": 1065, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1066, "end_step": 1165, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_44_41_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 345, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 346, "end_step": 515, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 516, "end_step": 555, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 556, "end_step": 585, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 720, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 765, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 830, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 831, "end_step": 910, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 930, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 965, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 966, "end_step": 1040, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 345, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 346, "end_step": 515, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 516, "end_step": 555, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 556, "end_step": 585, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 720, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 765, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 830, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 831, "end_step": 910, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 930, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 965, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 966, "end_step": 1040, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_51_37_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 50, "v40_language_source": "previous_published_lerobot", "episode_index": 34}
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 285, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 405, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 406, "end_step": 445, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 475, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 476, "end_step": 600, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 630, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 650, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 745, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 746, "end_step": 780, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 820, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 821, "end_step": 910, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 285, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 405, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 406, "end_step": 445, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 475, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 476, "end_step": 600, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 630, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 650, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 745, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 746, "end_step": 780, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 820, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 821, "end_step": 910, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_55_49_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 51, "v40_language_source": "previous_published_lerobot", "episode_index": 35}
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 265, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 266, "end_step": 425, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 426, "end_step": 460, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 461, "end_step": 480, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 645, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 646, "end_step": 695, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 696, "end_step": 755, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 756, "end_step": 820, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 821, "end_step": 855, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 856, "end_step": 890, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 891, "end_step": 980, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 265, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 266, "end_step": 425, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 426, "end_step": 460, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 461, "end_step": 480, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 645, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 646, "end_step": 695, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 696, "end_step": 755, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 756, "end_step": 820, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 821, "end_step": 855, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 856, "end_step": 890, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 891, "end_step": 980, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_57_04_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 53, "v40_language_source": "previous_published_lerobot", "episode_index": 36}
+{"source_uid": "efc915be410b57cb", "num_frames": 994, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 295, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 296, "end_step": 415, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 416, "end_step": 485, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 486, "end_step": 535, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 536, "end_step": 620, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 621, "end_step": 680, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 681, "end_step": 740, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 815, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 816, "end_step": 840, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 875, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 876, "end_step": 945, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 295, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 296, "end_step": 415, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 416, "end_step": 485, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 486, "end_step": 535, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 536, "end_step": 620, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 621, "end_step": 680, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 681, "end_step": 740, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 815, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 816, "end_step": 840, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 875, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 876, "end_step": 945, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_58_34_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 55, "v40_language_source": "previous_published_lerobot", "episode_index": 37}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/episodes.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..768525a5ce911a3c670a211534d7c00fbfe65289
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,38 @@
+{"episode_index": 0, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1624}
+{"episode_index": 1, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1220}
+{"episode_index": 2, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1236}
+{"episode_index": 3, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1645}
+{"episode_index": 4, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1346}
+{"episode_index": 5, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1769}
+{"episode_index": 6, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1127}
+{"episode_index": 7, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1250}
+{"episode_index": 8, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1209}
+{"episode_index": 9, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1257}
+{"episode_index": 10, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1327}
+{"episode_index": 11, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1348}
+{"episode_index": 12, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1024}
+{"episode_index": 13, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1269}
+{"episode_index": 14, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1266}
+{"episode_index": 15, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1082}
+{"episode_index": 16, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1031}
+{"episode_index": 17, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1154}
+{"episode_index": 18, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1113}
+{"episode_index": 19, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1129}
+{"episode_index": 20, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1531}
+{"episode_index": 21, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1092}
+{"episode_index": 22, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1014}
+{"episode_index": 23, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1228}
+{"episode_index": 24, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 945}
+{"episode_index": 25, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1193}
+{"episode_index": 26, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1021}
+{"episode_index": 27, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 989}
+{"episode_index": 28, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1023}
+{"episode_index": 29, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1090}
+{"episode_index": 30, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1147}
+{"episode_index": 31, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1067}
+{"episode_index": 32, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1000}
+{"episode_index": 33, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 993}
+{"episode_index": 34, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 996}
+{"episode_index": 35, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 960}
+{"episode_index": 36, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1042}
+{"episode_index": 37, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 994}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/episodes_stats.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..76aa42802c3ae6c6ff55822cbce36cd6d9805941
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,38 @@
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diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/info.json b/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d31ad9abfac1523c386477f26bf43931105b8684
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/modality.json b/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/subtasks.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..66513cd237134cfd69b67061ce9ffdb568ce6a97
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,12 @@
+{"subtask_index": 0, "subtask": "Pull the drawer open with the right hand. | Skill: pull"}
+{"subtask_index": 1, "subtask": "Pick up the first object from the table. | Skill: pick"}
+{"subtask_index": 2, "subtask": "Move the first object into the drawer. | Skill: move"}
+{"subtask_index": 3, "subtask": "Place the first object into the drawer. | Skill: place"}
+{"subtask_index": 4, "subtask": "Pick up the second object from the table. | Skill: pick"}
+{"subtask_index": 5, "subtask": "Move the second object into the drawer. | Skill: move"}
+{"subtask_index": 6, "subtask": "Place the second object into the drawer. | Skill: place"}
+{"subtask_index": 7, "subtask": "Pick up the third object from the table. | Skill: pick"}
+{"subtask_index": 8, "subtask": "Move the third object into the drawer. | Skill: move"}
+{"subtask_index": 9, "subtask": "Place the third object into the drawer. | Skill: place"}
+{"subtask_index": 10, "subtask": "Push the drawer closed with the right hand. | Skill: push"}
+{"subtask_index": 11, "subtask": "Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/tasks.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2619d9722562fdab00fb1d10ccd35644ec1cf40c
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/v40_validation.json b/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..fed39d08f6959679c4a8a2b23271f4d1cdf28313
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 38,
+  "frames": 44751,
+  "video_frames": {
+    "observation.images.head_left": 44751,
+    "observation.images.wrist_left": 44751,
+    "observation.images.wrist_right": 44751,
+    "observation.images.head_right": 44751,
+    "observation.images.tactile_deform": 44751,
+    "observation.images.tactile_raw": 44751
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 38
+}
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 310, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 311, "end_step": 445, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 475, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 476, "end_step": 520, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 670, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 671, "end_step": 760, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 800, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 801, "end_step": 910, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 950, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 951, "end_step": 985, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 986, "end_step": 1085, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 310, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 311, "end_step": 445, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 475, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 476, "end_step": 520, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 670, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 671, "end_step": 760, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 800, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 801, "end_step": 910, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 950, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 951, "end_step": 985, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 986, "end_step": 1085, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_24_53_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 390, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 490, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 545, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 546, "end_step": 565, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 566, "end_step": 710, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 711, "end_step": 775, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 776, "end_step": 805, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 806, "end_step": 965, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 966, "end_step": 1030, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1031, "end_step": 1065, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1066, "end_step": 1200, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 390, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 490, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 545, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 546, "end_step": 565, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 566, "end_step": 710, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 711, "end_step": 775, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 776, "end_step": 805, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 806, "end_step": 965, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 966, "end_step": 1030, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1031, "end_step": 1065, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1066, "end_step": 1200, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_27_11_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 530, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 531, "end_step": 660, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 705, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 765, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 885, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 945, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 946, "end_step": 970, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 971, "end_step": 1110, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1111, "end_step": 1150, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1151, "end_step": 1210, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1211, "end_step": 1285, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 530, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 531, "end_step": 660, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 705, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 765, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 885, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 945, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 946, "end_step": 970, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 971, "end_step": 1110, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1111, "end_step": 1150, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1151, "end_step": 1210, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1211, "end_step": 1285, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_29_09_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 19, "v40_language_source": "previous_published_lerobot", "episode_index": 11}
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 400, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 401, "end_step": 490, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 525, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 526, "end_step": 555, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 556, "end_step": 670, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 671, "end_step": 710, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 711, "end_step": 751, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 752, "end_step": 831, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 866, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 867, "end_step": 906, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 976, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 400, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 401, "end_step": 490, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 525, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 526, "end_step": 555, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 556, "end_step": 670, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 671, "end_step": 710, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 711, "end_step": 751, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 752, "end_step": 831, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 866, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 867, "end_step": 906, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 976, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_32_46_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 330, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 445, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 485, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 486, "end_step": 505, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 506, "end_step": 660, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 730, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 731, "end_step": 765, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 875, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 876, "end_step": 900, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 925, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 926, "end_step": 1015, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 330, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 445, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 485, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 486, "end_step": 505, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 506, "end_step": 660, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 730, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 731, "end_step": 765, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 875, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 876, "end_step": 900, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 925, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 926, "end_step": 1015, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_35_59_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 30, "v40_language_source": "previous_published_lerobot", "episode_index": 17}
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 290, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 430, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 455, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 456, "end_step": 480, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 625, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 626, "end_step": 675, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 676, "end_step": 725, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 726, "end_step": 890, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 891, "end_step": 925, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 926, "end_step": 955, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 956, "end_step": 1055, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 290, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 430, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 455, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 456, "end_step": 480, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 625, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 626, "end_step": 675, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 676, "end_step": 725, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 726, "end_step": 890, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 891, "end_step": 925, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 926, "end_step": 955, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 956, "end_step": 1055, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_40_48_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 33, "v40_language_source": "previous_published_lerobot", "episode_index": 20}
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 310, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 311, "end_step": 450, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 485, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 486, "end_step": 505, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 506, "end_step": 635, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 636, "end_step": 680, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 681, "end_step": 750, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 860, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 861, "end_step": 900, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 930, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 1035, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 310, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 311, "end_step": 450, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 451, "end_step": 485, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 486, "end_step": 505, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 506, "end_step": 635, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 636, "end_step": 680, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 681, "end_step": 750, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 860, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 861, "end_step": 900, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 930, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 1035, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_43_17_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 290, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 400, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 401, "end_step": 430, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 455, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 456, "end_step": 575, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 576, "end_step": 615, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 635, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 636, "end_step": 740, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 790, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 791, "end_step": 820, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 821, "end_step": 925, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 290, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 400, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 401, "end_step": 430, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 455, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 456, "end_step": 575, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 576, "end_step": 615, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 635, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 636, "end_step": 740, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 790, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 791, "end_step": 820, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 821, "end_step": 925, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_49_15_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 360, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 475, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 476, "end_step": 520, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 535, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 536, "end_step": 745, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 746, "end_step": 805, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 806, "end_step": 835, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 836, "end_step": 950, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 951, "end_step": 980, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 981, "end_step": 1005, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1006, "end_step": 1100, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 360, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 475, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 476, "end_step": 520, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 535, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 536, "end_step": 745, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 746, "end_step": 805, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 806, "end_step": 835, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 836, "end_step": 950, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 951, "end_step": 980, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 981, "end_step": 1005, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1006, "end_step": 1100, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_52_19_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 265, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 266, "end_step": 425, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 426, "end_step": 460, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 461, "end_step": 480, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 645, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 646, "end_step": 695, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 696, "end_step": 755, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 756, "end_step": 820, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 821, "end_step": 855, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 856, "end_step": 890, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 891, "end_step": 980, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 265, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 266, "end_step": 425, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 426, "end_step": 460, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 461, "end_step": 480, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 645, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 646, "end_step": 695, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 696, "end_step": 755, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 756, "end_step": 820, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 821, "end_step": 855, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 856, "end_step": 890, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 891, "end_step": 980, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_57_04_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 55, "v40_language_source": "previous_published_lerobot", "episode_index": 37}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v3.0/meta/annotations.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b672b70fa6ac5d75031a988484fe5d063190cce5
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,38 @@
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 758, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 759, "end_step": 878, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 879, "end_step": 938, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 939, "end_step": 970, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 971, "end_step": 1028, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1029, "end_step": 1076, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1077, "end_step": 1096, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1097, "end_step": 1270, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1271, "end_step": 1312, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1313, "end_step": 1336, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1337, "end_step": 1552, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 758, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 759, "end_step": 878, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 879, "end_step": 938, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 939, "end_step": 970, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 971, "end_step": 1028, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1029, "end_step": 1076, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1077, "end_step": 1096, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1097, "end_step": 1270, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1271, "end_step": 1312, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1313, "end_step": 1336, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1337, "end_step": 1552, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_10_58_04_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 482, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 568, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 569, "end_step": 602, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 603, "end_step": 628, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 629, "end_step": 724, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 725, "end_step": 780, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 822, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 946, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 947, "end_step": 990, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1020, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1021, "end_step": 1140, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 482, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 568, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 569, "end_step": 602, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 603, "end_step": 628, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 629, "end_step": 724, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 725, "end_step": 780, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 822, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 946, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 947, "end_step": 990, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1020, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1021, "end_step": 1140, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_11_09_39_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 365, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 366, "end_step": 565, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 566, "end_step": 615, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 640, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 641, "end_step": 765, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 830, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 831, "end_step": 870, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 1030, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1031, "end_step": 1085, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1086, "end_step": 1115, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1116, "end_step": 1200, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 365, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 366, "end_step": 565, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 566, "end_step": 615, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 640, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 641, "end_step": 765, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 830, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 831, "end_step": 870, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 1030, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1031, "end_step": 1085, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1086, "end_step": 1115, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1116, "end_step": 1200, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_25_38_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 15, "v40_language_source": "previous_published_lerobot", "episode_index": 9}
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 530, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 531, "end_step": 660, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 705, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 765, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 885, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 945, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 946, "end_step": 970, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 971, "end_step": 1110, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1111, "end_step": 1150, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1151, "end_step": 1210, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1211, "end_step": 1285, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 530, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 531, "end_step": 660, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 705, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 765, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 885, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 945, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 946, "end_step": 970, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 971, "end_step": 1110, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1111, "end_step": 1150, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1151, "end_step": 1210, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1211, "end_step": 1285, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_29_09_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 21, "v40_language_source": "previous_published_lerobot", "episode_index": 12}
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 380, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 381, "end_step": 565, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 566, "end_step": 610, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 611, "end_step": 630, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 780, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 830, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 831, "end_step": 860, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 861, "end_step": 1015, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1016, "end_step": 1060, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1061, "end_step": 1095, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1245, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 380, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 381, "end_step": 565, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 566, "end_step": 610, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 611, "end_step": 630, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 780, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 830, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 831, "end_step": 860, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 861, "end_step": 1015, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1016, "end_step": 1060, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1061, "end_step": 1095, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1245, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_34_13_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 430, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 545, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 546, "end_step": 590, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 625, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 626, "end_step": 765, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 825, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 965, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 966, "end_step": 1060, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1061, "end_step": 1085, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1086, "end_step": 1120, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1121, "end_step": 1215, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 430, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 545, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 546, "end_step": 590, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 625, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 626, "end_step": 765, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 825, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 965, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 966, "end_step": 1060, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1061, "end_step": 1085, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1086, "end_step": 1120, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1121, "end_step": 1215, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_35_09_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 25, "v40_language_source": "previous_published_lerobot", "episode_index": 15}
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 310, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 311, "end_step": 455, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 456, "end_step": 490, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 510, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 640, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 641, "end_step": 690, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 725, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 726, "end_step": 815, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 816, "end_step": 850, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 851, "end_step": 870, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 970, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 310, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 311, "end_step": 455, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 456, "end_step": 490, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 491, "end_step": 510, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 640, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 641, "end_step": 690, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 725, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 726, "end_step": 815, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 816, "end_step": 850, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 851, "end_step": 870, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 970, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_38_37_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 340, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 341, "end_step": 455, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 456, "end_step": 500, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 501, "end_step": 520, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 685, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 686, "end_step": 760, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 805, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 806, "end_step": 930, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 960, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 961, "end_step": 995, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 996, "end_step": 1060, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 340, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 341, "end_step": 455, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 456, "end_step": 500, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 501, "end_step": 520, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 685, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 686, "end_step": 760, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 805, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 806, "end_step": 930, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 960, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 961, "end_step": 995, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 996, "end_step": 1060, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_41_34_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 34, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 260, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 261, "end_step": 360, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 410, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 411, "end_step": 460, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 461, "end_step": 580, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 581, "end_step": 635, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 636, "end_step": 675, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 676, "end_step": 815, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 816, "end_step": 855, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 856, "end_step": 890, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 891, "end_step": 965, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 260, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 261, "end_step": 360, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 410, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 411, "end_step": 460, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 461, "end_step": 580, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 581, "end_step": 635, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 636, "end_step": 675, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 676, "end_step": 815, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 816, "end_step": 855, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 856, "end_step": 890, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 891, "end_step": 965, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_44_01_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 320, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 321, "end_step": 445, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 485, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 486, "end_step": 510, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 640, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 641, "end_step": 695, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 696, "end_step": 760, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 825, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 845, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 846, "end_step": 870, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 950, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 320, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 321, "end_step": 445, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 485, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 486, "end_step": 510, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 640, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 641, "end_step": 695, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 696, "end_step": 760, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 825, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 845, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 846, "end_step": 870, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 950, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_10_51_38_train/POC22007_2026_03_21_14_50_51_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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\ No newline at end of file
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v3.0/meta/modality.json b/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v3.0/meta/modality.json
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diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v3.0/meta/stats.json b/organize_objects_in_drawer/season_POC22007_2026_03_21_10_51_38_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..e36c9b94be2bd617e9e336f3d67033c6bd64c0ca
--- /dev/null
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diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/annotations.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0ac9815219ca4e19efe3cff46dde04219649ad52
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,20 @@
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 535, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 536, "end_step": 705, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 750, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 770, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 771, "end_step": 910, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 975, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 976, "end_step": 1005, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1006, "end_step": 1245, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1246, "end_step": 1300, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1301, "end_step": 1335, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1336, "end_step": 1465, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 535, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 536, "end_step": 705, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 750, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 770, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 771, "end_step": 910, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 975, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 976, "end_step": 1005, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1006, "end_step": 1245, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1246, "end_step": 1300, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1301, "end_step": 1335, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1336, "end_step": 1465, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_15_07_03_train/POC22007_2026_03_21_15_13_46_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 558, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 968, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 969, "end_step": 998, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 999, "end_step": 1013, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1014, "end_step": 1133, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1134, "end_step": 1178, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1179, "end_step": 1203, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1204, "end_step": 1378, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1379, "end_step": 1438, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1439, "end_step": 1463, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1464, "end_step": 1593, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 558, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 968, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 969, "end_step": 998, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 999, "end_step": 1013, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1014, "end_step": 1133, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1134, "end_step": 1178, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1179, "end_step": 1203, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1204, "end_step": 1378, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1379, "end_step": 1438, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1439, "end_step": 1463, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1464, "end_step": 1593, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_15_07_03_train/POC22007_2026_03_21_15_38_24_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. 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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 469, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 470, "end_step": 824, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 825, "end_step": 889, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 890, "end_step": 914, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 915, "end_step": 1044, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1045, "end_step": 1099, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1149, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1304, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1305, "end_step": 1359, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1360, "end_step": 1404, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1405, "end_step": 1544, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 469, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 470, "end_step": 824, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 825, "end_step": 889, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 890, "end_step": 914, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 915, "end_step": 1044, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1045, "end_step": 1099, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1100, "end_step": 1149, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1304, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1305, "end_step": 1359, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1360, "end_step": 1404, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1405, "end_step": 1544, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_15_07_03_train/POC22007_2026_03_21_15_50_48_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 32, "v40_language_source": "previous_published_lerobot", "episode_index": 17}
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 641, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 642, "end_step": 796, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 797, "end_step": 846, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 876, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 1006, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1007, "end_step": 1051, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1052, "end_step": 1081, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1082, "end_step": 1216, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1217, "end_step": 1276, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1277, "end_step": 1296, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1297, "end_step": 1401, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 641, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 642, "end_step": 796, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 797, "end_step": 846, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 847, "end_step": 876, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 1006, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1007, "end_step": 1051, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1052, "end_step": 1081, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1082, "end_step": 1216, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1217, "end_step": 1276, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1277, "end_step": 1296, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1297, "end_step": 1401, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_15_07_03_train/POC22007_2026_03_21_15_55_25_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 36, "v40_language_source": "previous_published_lerobot", "episode_index": 18}
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The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "segments": [{"label": "subtasks", "start_step": 0, "end_step": 501, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 502, "end_step": 646, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 647, "end_step": 681, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 706, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 707, "end_step": 931, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 932, "end_step": 986, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 987, "end_step": 1011, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1012, "end_step": 1121, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1122, "end_step": 1171, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1172, "end_step": 1186, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1187, "end_step": 1301, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 501, "id": "subtask-001", "text": "Pull the drawer open with the right hand. | Skill: pull", "task_skill": "pull", "atomic_action": []}, {"label": "subtasks", "start_step": 502, "end_step": 646, "id": "subtask-002", "text": "Pick up the first object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 647, "end_step": 681, "id": "subtask-003", "text": "Move the first object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 706, "id": "subtask-004", "text": "Place the first object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 707, "end_step": 931, "id": "subtask-005", "text": "Pick up the second object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 932, "end_step": 986, "id": "subtask-006", "text": "Move the second object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 987, "end_step": 1011, "id": "subtask-007", "text": "Place the second object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1012, "end_step": 1121, "id": "subtask-008", "text": "Pick up the third object from the table. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1122, "end_step": 1171, "id": "subtask-009", "text": "Move the third object into the drawer. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1172, "end_step": 1186, "id": "subtask-010", "text": "Place the third object into the drawer. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1187, "end_step": 1301, "id": "subtask-011", "text": "Push the drawer closed with the right hand. | Skill: push", "task_skill": "push", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/OrganizingtheDrawer/season_POC22007_2026_03_21_15_07_03_train/POC22007_2026_03_21_15_57_25_train/anno.json", "tags": {"task_name": "Tabletop Cleanup into Drawer", "task_instruction": "Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand.", "scene_description": "A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end.", "success_criteria": "All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer.", "score": "S", "SOP": "V1.0"}, "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 38, "v40_language_source": "previous_published_lerobot", "episode_index": 19}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/episodes.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b7d9a650185525deb277a8b8daf6942cfdd2a9c3
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,20 @@
+{"episode_index": 0, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1875}
+{"episode_index": 1, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1618}
+{"episode_index": 2, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1530}
+{"episode_index": 3, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1514}
+{"episode_index": 4, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1810}
+{"episode_index": 5, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1788}
+{"episode_index": 6, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1702}
+{"episode_index": 7, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1812}
+{"episode_index": 8, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1493}
+{"episode_index": 9, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 2310}
+{"episode_index": 10, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1610}
+{"episode_index": 11, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1678}
+{"episode_index": 12, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1713}
+{"episode_index": 13, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1966}
+{"episode_index": 14, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1799}
+{"episode_index": 15, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1586}
+{"episode_index": 16, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1712}
+{"episode_index": 17, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1647}
+{"episode_index": 18, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1482}
+{"episode_index": 19, "tasks": ["Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."], "length": 1371}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/episodes_stats.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..661ad7accfb67b33c7b32f86ec08dc3a7d0bf846
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,20 @@
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diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/info.json b/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..28ca752963cbb065cab2aa8894724d4a12570289
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/modality.json b/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/subtasks.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..66513cd237134cfd69b67061ce9ffdb568ce6a97
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,12 @@
+{"subtask_index": 0, "subtask": "Pull the drawer open with the right hand. | Skill: pull"}
+{"subtask_index": 1, "subtask": "Pick up the first object from the table. | Skill: pick"}
+{"subtask_index": 2, "subtask": "Move the first object into the drawer. | Skill: move"}
+{"subtask_index": 3, "subtask": "Place the first object into the drawer. | Skill: place"}
+{"subtask_index": 4, "subtask": "Pick up the second object from the table. | Skill: pick"}
+{"subtask_index": 5, "subtask": "Move the second object into the drawer. | Skill: move"}
+{"subtask_index": 6, "subtask": "Place the second object into the drawer. | Skill: place"}
+{"subtask_index": 7, "subtask": "Pick up the third object from the table. | Skill: pick"}
+{"subtask_index": 8, "subtask": "Move the third object into the drawer. | Skill: move"}
+{"subtask_index": 9, "subtask": "Place the third object into the drawer. | Skill: place"}
+{"subtask_index": 10, "subtask": "Push the drawer closed with the right hand. | Skill: push"}
+{"subtask_index": 11, "subtask": "Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/tasks.jsonl b/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2619d9722562fdab00fb1d10ccd35644ec1cf40c
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Tabletop Cleanup into Drawer | Instruction: Pull the drawer open with the right hand. Then pick up the first object, move it into the drawer, and place it inside. Next, pick up the second object, move it into the drawer, and place it inside. Then pick up the third object, move it into the drawer, and place it inside. Finally, push the drawer closed with the right hand. | Scene: A drawer and three scattered objects are on the table. The robot needs to open the drawer, place the three objects into it one by one, and close the drawer at the end. | Success: All three objects are inside the drawer, the drawer is closed, and no task-related objects remain on the tabletop except the drawer."}
diff --git a/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/v40_validation.json b/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3addebfaa0b2560a4d9f30319d9b6242d549e7d
--- /dev/null
+++ b/organize_objects_in_drawer/season_POC22007_2026_03_21_15_07_03_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 20,
+  "frames": 34016,
+  "video_frames": {
+    "observation.images.head_left": 34016,
+    "observation.images.wrist_left": 34016,
+    "observation.images.wrist_right": 34016,
+    "observation.images.head_right": 34016,
+    "observation.images.tactile_deform": 34016,
+    "observation.images.tactile_raw": 34016
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 20
+}
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