Restore original README media; document TCP poses and supplement missing scene descriptions

README.md

@@ -0,0 +1,491 @@
+---
+license: cc-by-4.0
+pretty_name: Sharpa Open Data
+tags:
+  - robotics
+  - lerobot
+  - imitation-learning
+  - visuomotor-learning
+  - tactile-sensing
+  - dexterous-manipulation
+  - bimanual-manipulation
+  - language-conditioned-robotics
+---
+
+<h1 align="center">Sharpa Open Data</h1>
+
+<p align="center">
+  A multimodal dataset of real-world teleoperated demonstrations for bimanual dexterous manipulation.
+</p>
+
+<p align="center">
+  <a href="https://www.sharpa.com/"><img src="https://img.shields.io/badge/Website-sharpa.com-555555?style=flat-square" alt="Website"></a>
+  <a href="https://github.com/sharpa-robotics"><img src="https://img.shields.io/badge/GitHub-Sharpa-24292f?style=flat-square&logo=github&logoColor=white" alt="GitHub"></a>
+  <a href="https://huggingface.co/datasets/Sharpa-Robotics/DexSharpa-v1.0"><img src="https://img.shields.io/badge/Dataset-Hugging%20Face-f3b000?style=flat-square" alt="Dataset"></a>
+  <a href="https://creativecommons.org/licenses/by/4.0/"><img src="https://img.shields.io/badge/License-CC%20BY%204.0-2b7bb9?style=flat-square" alt="License"></a>
+</p>
+
+<p align="center">
+  <a href="#overview">Overview</a> ·
+  <a href="#get-started">Get Started</a> ·
+  <a href="#task-collection">Tasks</a> ·
+  <a href="#example-observations">Examples</a> ·
+  <a href="#feature-schema">Features</a> ·
+  <a href="#language-annotations">Language</a> ·
+  <a href="#citation">Citation</a>
+</p>
+
+[![Overview of diverse manipulation tasks from head and wrist cameras](assets/task_overview_56_tasks_grid.gif)](assets/task_overview_56_tasks_grid.mp4)
+
+An animated overview of 56 tasks in a uniform 8 × 7 grid, with head-camera and wrist-camera observations distributed throughout the montage. It spans assembly, tool use, deformable-object manipulation, cleaning, material transfer, and long-horizon activities. [Open MP4](assets/task_overview_56_tasks_grid.mp4).
+
+## Overview
+
+**Sharpa Open Data** is a real-world teleoperation dataset for bimanual dexterous manipulation. It contains 29,008 demonstration episodes across 59 manipulation tasks, comprising 32,436,623 frames (approximately 300.3 hours at 30 FPS).
+
+Data were collected through human teleoperation of a real bimanual robotic system with two 7-DoF arms, two 22-DoF dexterous hands, four RGB cameras, and fingertip tactile sensors. Each episode provides synchronized joint state, joint torque, tool-center-point state, observed and commanded TCP poses, action, numeric tactile measurements, RGB video, tactile video, and temporally aligned language annotations.
+
+The task set covers object rearrangement, articulated-object interaction, assembly, tool use, deformable-object manipulation, packaging, cleaning, and long-horizon sequential manipulation. The data are distributed in LeRobot v3.0 and v2.1 formats for research on imitation learning, visuomotor control, vision-language-action models, visual-tactile learning, and hierarchical policy learning.
+
+## Dataset at a Glance
+
+| Tasks | Episodes | Duration | Frequency | Video streams | Language segments |
+| ---: | ---: | ---: | ---: | ---: | ---: |
+| 59 | 29,008 | 300.3 hours | 30 FPS | 6 | 208,909 |
+
+| Modality | Content |
+| --- | --- |
+| Robot | 65D joint state, 65D action, 65D joint torque, 24D TCP state, and separate 12D observed / commanded TCP poses |
+| Vision | Two head cameras and two wrist cameras |
+| Tactile | 60D force/torque signal, deformation video, and raw tactile video |
+| Language | Structured task descriptions, frame-aligned subtasks, and 45 skill labels |
+| Format | LeRobot v3.0 and v2.1 for every released season |
+
+> **Version note:** v3.0 and v2.1 are two exports of the same demonstrations. Dataset scale must be reported as 29,008 episodes and 32,436,623 frames, not the sum of both exports.
+
+<details>
+<summary>Detailed dataset statistics</summary>
+
+| Item | Value |
+| --- | ---: |
+| Manipulation tasks | 59 |
+| Collection seasons | 495 |
+| Episodes (one export) | 29,008 |
+| Frames (one export) | 32,436,623 |
+| Approximate duration at 30 FPS | 300.3 hours |
+| LeRobot v3.0 seasons / episodes | 495 / 29,008 |
+| LeRobot v2.1 seasons / episodes | 495 / 29,008 |
+| FPS | 30 |
+| Synchronized video streams | 6 |
+| State / action dimension | 65 |
+| Joint-torque dimension | 65 |
+| TCP-state dimension | 24 |
+| Observed / commanded TCP-pose dimension | 12 / 12 |
+| Tactile-signal dimension | 60 |
+| Episodes with global language annotations | 29,008 (100%) |
+| Temporally grounded language segments | 208,909 |
+| Frames covered by temporal language segments | 28,933,128 (89.2%) |
+| Distinct skill labels | 45 |
+
+</details>
+
+For new projects, we recommend starting with `lerobot_v3.0`. The `lerobot_v2.1` export is provided for compatibility with pipelines that depend on the older LeRobot layout.
+
+## Example Observations
+
+The previews below show synchronized observations from the same `clean_plate_with_eraser` episode. Each clip is displayed at 2x playback speed. The MP4 links remain available when animated GIF playback is disabled by the Markdown viewer.
+
+| Head camera ([MP4](assets/example_views/head_left.mp4)) | Wrist camera ([MP4](assets/example_views/wrist_right.mp4)) |
+| --- | --- |
+| [![Head-left camera observation](assets/example_views/head_left.gif)](assets/example_views/head_left.mp4) | [![Right-wrist camera observation](assets/example_views/wrist_right.gif)](assets/example_views/wrist_right.mp4) |
+
+| Tactile deformation ([MP4](assets/example_views/tactile_deform.mp4)) | Raw tactile observation ([MP4](assets/example_views/tactile_raw.mp4)) |
+| --- | --- |
+| [![Tactile deformation observation](assets/example_views/tactile_deform.gif)](assets/example_views/tactile_deform.mp4) | [![Raw tactile observation](assets/example_views/tactile_raw.gif)](assets/example_views/tactile_raw.mp4) |
+
+## Task Collection
+
+Task directories use lowercase `snake_case` names with an action-object-target structure. Counts refer to one format version (v3.0); v2.1 contains the corresponding demonstrations.
+
+<details>
+<summary>Complete task inventory — 59 tasks across 495 collection seasons</summary>
+
+| Task | Seasons | Episodes | Frames |
+| --- | ---: | ---: | ---: |
+| `insert_batteries_into_charger` | 3 | 458 | 841,645 |
+| `scrub_cup_interior` | 2 | 481 | 314,401 |
+| `insert_plug_into_socket` | 6 | 416 | 183,726 |
+| `assemble_gears_on_base` | 11 | 1,488 | 983,123 |
+| `clean_plate_with_eraser` | 5 | 343 | 190,467 |
+| `tighten_bottle_cap` | 7 | 131 | 139,693 |
+| `secure_coiled_cable_with_velcro_tie` | 10 | 473 | 632,425 |
+| `collect_waste_into_bin` | 8 | 508 | 621,140 |
+| `deal_playing_cards` | 23 | 1,088 | 2,074,644 |
+| `empty_dustpan_into_bin` | 10 | 488 | 379,585 |
+| `cover_ball_with_cup` | 5 | 488 | 188,956 |
+| `insert_knife_into_cutlery_bin` | 4 | 495 | 232,113 |
+| `place_ball_in_box` | 3 | 115 | 40,672 |
+| `place_ball_in_cup_then_cup_in_box` | 4 | 456 | 252,933 |
+| `place_cup_on_plate` | 4 | 429 | 149,882 |
+| `place_knife_and_fork_on_plate` | 8 | 461 | 314,324 |
+| `stack_two_plates` | 4 | 491 | 185,481 |
+| `remove_block_from_box` | 5 | 388 | 142,321 |
+| `reorient_cup_upright` | 5 | 420 | 151,573 |
+| `fit_trash_bag_into_bin` | 47 | 656 | 852,443 |
+| `turn_book_pages` | 7 | 65 | 87,056 |
+| `fold_and_close_box` | 7 | 537 | 1,008,242 |
+| `hang_garment_on_hanger` | 15 | 521 | 979,299 |
+| `form_kraft_paper_box` | 5 | 455 | 775,252 |
+| `close_kraft_paper_box` | 5 | 645 | 693,683 |
+| `fold_towel` | 3 | 459 | 547,201 |
+| `grind_medicine_with_mortar_and_pestle` | 4 | 131 | 176,595 |
+| `hammer_nails` | 4 | 1,071 | 861,668 |
+| `insert_batteries_into_device` | 7 | 516 | 456,513 |
+| `iron_garment` | 33 | 517 | 2,277,751 |
+| `clean_garment_with_lint_roller` | 3 | 810 | 737,849 |
+| `stack_napkins_in_holder` | 5 | 497 | 545,816 |
+| `nest_cups` | 10 | 464 | 763,601 |
+| `organize_objects_in_drawer` | 5 | 95 | 115,637 |
+| `pack_blueberries_in_bag` | 17 | 485 | 1,533,417 |
+| `pack_object_in_storage_bag` | 9 | 311 | 644,006 |
+| `staple_paper` | 9 | 695 | 605,253 |
+| `relocate_tennis_ball` | 1 | 450 | 157,112 |
+| `place_fruits_in_basket` | 8 | 416 | 286,988 |
+| `place_pens_in_holder` | 11 | 399 | 427,274 |
+| `place_coffee_filter_in_dripper` | 21 | 799 | 1,826,481 |
+| `insert_socket_module_into_board` | 2 | 957 | 512,619 |
+| `transfer_pills_between_cups` | 9 | 479 | 239,561 |
+| `pry_nails_from_board` | 3 | 24 | 21,174 |
+| `reorient_and_relocate_carton` | 2 | 347 | 181,309 |
+| `transfer_liquid_with_dropper` | 12 | 360 | 655,829 |
+| `transfer_salt_between_cups_with_spoon` | 4 | 1,483 | 831,390 |
+| `scoop_salt_from_jar_into_cup` | 13 | 424 | 485,424 |
+| `sort_utensils` | 5 | 419 | 460,851 |
+| `reposition_and_stack_blocks` | 15 | 1,007 | 1,069,334 |
+| `sweep_waste_into_dustpan` | 10 | 609 | 516,260 |
+| `seal_box_with_tape` | 1 | 115 | 208,648 |
+| `place_books_on_shelf` | 9 | 151 | 133,230 |
+| `collect_toys_into_basket` | 5 | 84 | 86,296 |
+| `rotate_bottle_cap` | 17 | 583 | 497,695 |
+| `unscrew_bottle_cap` | 3 | 445 | 351,637 |
+| `clean_knife_with_cloth` | 2 | 292 | 246,287 |
+| `play_tic_tac_toe` | 16 | 521 | 1,317,513 |
+| `tomato_boxed_lunch_packaging` | 4 | 97 | 243,325 |
+
+</details>
+
+## Get Started
+
+### Download the Dataset
+
+Install Git LFS before cloning from Hugging Face.
+
+```bash
+git lfs install
+git clone https://huggingface.co/datasets/Sharpa-Robotics/DexSharpa-v1.0
+```
+
+To clone metadata first and fetch large files later:
+
+```bash
+GIT_LFS_SKIP_SMUDGE=1 git clone https://huggingface.co/datasets/Sharpa-Robotics/DexSharpa-v1.0
+```
+
+For a single task, use sparse checkout. This example downloads `clean_plate_with_eraser`:
+
+```bash
+git init DexSharpa-v1.0
+cd DexSharpa-v1.0
+git remote add origin https://huggingface.co/datasets/Sharpa-Robotics/DexSharpa-v1.0
+git sparse-checkout init
+git sparse-checkout set clean_plate_with_eraser README.md
+git pull origin main
+```
+
+### Quick Inspection
+
+Inspect `meta/info.json` to discover the exact schema and path templates for an export.
+
+```python
+import json
+from pathlib import Path
+
+dataset_root = Path("DexSharpa-v1.0")
+episode_root = (
+    dataset_root
+    / "clean_plate_with_eraser"
+    / "season_POC22027_2026_04_17_11_01_59_train"
+    / "lerobot_v3.0"
+)
+
+with open(episode_root / "meta" / "info.json", "r") as f:
+    info = json.load(f)
+
+print("episodes:", info["total_episodes"])
+print("frames:", info["total_frames"])
+print("fps:", info["fps"])
+print("features:", list(info["features"]))
+```
+
+## Dataset Structure
+
+The repository uses a uniform `task / season / format` hierarchy. Every task is stored directly under the repository root.
+
+<details>
+<summary>Repository layout</summary>
+
+```text
+DexSharpa-v1.0/
+├── README.md
+├── clean_plate_with_eraser/
+│   ├── season_POC22027_2026_04_17_11_01_59_train/
+│   │   ├── lerobot_v3.0/
+│   │   │   ├── meta/
+│   │   │   │   ├── info.json
+│   │   │   │   ├── modality.json
+│   │   │   │   ├── episodes/
+│   │   │   │   ├── tasks.parquet
+│   │   │   │   └── subtasks.parquet
+│   │   │   ├── data/
+│   │   │   │   └── chunk-000/
+│   │   │   └── videos/
+│   │   │       ├── observation.images.head_left/
+│   │   │       ├── observation.images.head_right/
+│   │   │       ├── observation.images.wrist_left/
+│   │   │       ├── observation.images.wrist_right/
+│   │   │       ├── observation.images.tactile_deform/
+│   │   │       └── observation.images.tactile_raw/
+│   │   └── lerobot_v2.1/
+│   │       ├── meta/
+│   │       ├── data/
+│   │       └── videos/
+│   └── season_.../
+├── cover_ball_with_cup/
+├── reposition_and_stack_blocks/
+├── play_tic_tac_toe/
+└── .../
+```
+
+</details>
+
+### Storage Layout
+
+| Part | Description |
+| --- | --- |
+| `meta/` | Dataset schema, episode metadata, statistics, tasks, subtasks, and annotations |
+| `data/` | Frame-aligned robot data stored as Apache Parquet files |
+| `videos/` | Per-camera MP4 video streams |
+
+<details>
+<summary>LeRobot path templates</summary>
+
+LeRobot v3.0 uses paths similar to:
+
+```text
+data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
+videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
+```
+
+LeRobot v2.1 uses paths similar to:
+
+```text
+data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
+videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4
+```
+
+</details>
+
+## Feature Schema
+
+All inspected seasons expose the same main feature set.
+
+| Feature | Type | Shape | Description |
+| --- | --- | ---: | --- |
+| `observation.state` | float32 | 65 | Joint-space robot state |
+| `action` | float32 | 65 | Joint-space action target |
+| `observation.state.joint_torque` | float32 | 65 | Joint-torque signal |
+| `observation.state.tcp` | float32 | 24 | Left/right tool-center-point pose and force state |
+| `observation.state.tcp_pose` | float32 | 12 | Left/right observed TCP poses, 6 components per arm |
+| `action.tcp_pose` | float32 | 12 | Left/right commanded TCP poses, 6 components per arm |
+| `observation.tactile` | float32 | 60 | 10 fingertips x 6-axis force/torque signal |
+| `observation.images.*` | video | varies | Six synchronized visual and tactile streams |
+| `timestamp` | float32 | 1 | Frame timestamp |
+| `frame_index` | int64 | 1 | Frame index within an episode |
+| `episode_index` | int64 | 1 | Episode index |
+| `task_index` | int64 | 1 | Task-description index |
+| `subtask_index` | int64 | 1 | Subtask-annotation index |
+
+### Joint-Space State and Action
+
+The 65D state, joint-torque, and action vectors use the following order:
+
+| Range | Names | Meaning |
+| --- | --- | --- |
+| 0-6 | `left_arm_j0` to `left_arm_j6` | Left arm joints |
+| 7-28 | `left_hand_j0` to `left_hand_j21` | Left dexterous-hand joints |
+| 29-35 | `right_arm_j0` to `right_arm_j6` | Right arm joints |
+| 36-57 | `right_hand_j0` to `right_hand_j21` | Right dexterous-hand joints |
+| 58-64 | `motor_j0` to `motor_j6` | Torso / motor-related joints |
+
+### TCP Pose State and Action
+
+`observation.state.tcp_pose` and `action.tcp_pose` are separate 12D float32 vectors. Components `0:6` contain the left-arm TCP pose and `6:12` contain the right-arm TCP pose.
+
+The observation is read from the source `state/left_arm/tcp_pose` and `state/right_arm/tcp_pose`; the action is read from the corresponding `action/.../tcp_pose` streams. Each stream uses its own `aligned_index`. Source values and pose representation are preserved; commanded poses are not copied from observed poses or reconstructed using forward kinematics.
+
+The existing 24D `observation.state.tcp` remains unchanged: left pose `0:6`, left force/torque `6:12`, right pose `12:18`, right force/torque `18:24`. Its two pose slices correspond to the new observed TCP-pose vector.
+
+The export does not fully declare TCP units, reference frames or rotation convention (`rotation_type` is null). Use the acquisition/controller convention before geometric transformations; do not infer Euler angles or quaternions from the vector width alone.
+
+### Video Streams
+
+| Feature key | Description | Shape |
+| --- | --- | --- |
+| `observation.images.head_left` | Left head camera | 480 x 480 x 3 |
+| `observation.images.head_right` | Right head camera | 480 x 480 x 3 |
+| `observation.images.wrist_left` | Left wrist camera | 480 x 480 x 3 |
+| `observation.images.wrist_right` | Right wrist camera | 480 x 480 x 3 |
+| `observation.images.tactile_deform` | Tactile deformation video | 480 x 1200 x 3 |
+| `observation.images.tactile_raw` | Raw tactile video | 480 x 1600 x 3 |
+
+Video files are MP4 without audio. Codec may differ between exports; inspect the local files if your training stack has codec restrictions.
+
+## Language Annotations
+
+Every episode includes language annotations at two complementary levels: a global description of the complete task and temporally grounded descriptions of the subtasks performed during the trajectory. These annotations support language-conditioned policy learning, vision-language-action training, temporal grounding, skill discovery, hierarchical policy learning, and subtask-aware evaluation.
+
+### Global Task Description
+
+The episode-level `global_task` stores the available structured natural-language fields below:
+
+| Component | Meaning | Example |
+| --- | --- | --- |
+| `Task` | Short task name | `ClearPlate` |
+| `Instruction` | Ordered description of the intended behavior | Pick up the plate and eraser, wipe the plate, then place both objects down |
+| `Scene` | Objects, layout, and manipulation context | A marked plate and a blackboard eraser are on the table |
+| `Success` | Completion criteria | The marks are removed and both objects are placed stably |
+
+The same information is also exposed as separate fields under `tags`. All episodes have scene descriptions; 1,061 scene descriptions were supplemented from existing episode text and visual spot checks, with provenance recorded in the annotation metadata. Some of these episodes do not have separate instruction, success-criteria or SOP fields:
+
+
+```text
+task_name
+task_instruction
+scene_description
+success_criteria
+score
+SOP
+```
+
+### Temporally Grounded Subtasks
+
+Each episode is decomposed into language segments. A segment contains:
+
+| Field | Description |
+| --- | --- |
+| `start_step`, `end_step` | Frame-index interval for the subtask |
+| `text` | Natural-language description of the action phase |
+| `task_skill` | Compact semantic skill label such as `pick`, `place`, `move`, `insert`, `fold`, or `wipe` |
+| `label` | Annotation type, including `subtasks` and recovered action descriptions |
+| `id` | Episode-local subtask identifier |
+
+Across the release, all 29,008 episodes contain language annotations. The dataset provides 208,909 temporal subtask segments spanning 28,933,128 frames, or approximately 89.2% of all frames. The segments use 45 nonempty skill labels; recovered descriptions may not have a separate skill label. Frames outside a fine-grained segment remain associated with the episode-level task description.
+
+For example, a plate-cleaning trajectory is decomposed into phases such as:
+
+```text
+Pick up the plate from the table with the left hand. | Skill: pick
+Pick up the blackboard eraser with the right hand. | Skill: pick
+Wipe away the dirty marks while the left hand holds the plate. | Skill: wipe
+Place the plate and the eraser back on the table. | Skill: place
+```
+
+### Annotation Files and Frame Alignment
+
+| Metadata | Purpose |
+| --- | --- |
+| `meta/annotations.jsonl` | Per-episode global task, structured tags, temporal segments, frame ranges, and source identifiers |
+| `meta/tasks.jsonl` / `tasks.parquet` | Mapping from `task_index` to the global task text |
+| `meta/subtasks.jsonl` / `subtasks.parquet` | Mapping from `subtask_index` to subtask text and skill |
+| Frame feature `task_index` | Connects each frame to its global task description |
+| Frame feature `subtask_index` | Connects each frame to its subtask annotation |
+
+The v2.1 export stores task and subtask lookup tables as JSONL; v3.0 stores the corresponding tables as Parquet. `annotations.jsonl` is included with both exports for direct episode-level inspection.
+
+The following example reads the global description and temporally grounded language from the first annotated episode:
+
+```python
+import json
+from pathlib import Path
+
+meta_root = Path(
+    "DexSharpa-v1.0/clean_plate_with_eraser/"
+    "season_POC22027_2026_04_17_11_01_59_train/"
+    "lerobot_v3.0/meta"
+)
+
+with open(meta_root / "annotations.jsonl", "r") as f:
+    annotation = json.loads(next(f))
+
+print(annotation["global_task"])
+
+for segment in annotation["language_segments"]:
+    print(
+        segment["start_step"],
+        segment["end_step"],
+        segment["task_skill"],
+        segment["text"],
+    )
+```
+
+When constructing training samples, use `task_index` for episode-level language conditioning and `subtask_index` or the explicit `start_step` / `end_step` intervals for phase-level conditioning.
+
+## Tactile Modality
+
+The dataset provides tactile information in structured numeric and image-based forms:
+
+- `observation.tactile` contains 60 values: left/right `thumb`, `index`, `middle`, `ring`, and `little` fingertips, each with `fx`, `fy`, `fz`, `tx`, `ty`, and `tz`.
+- `observation.images.tactile_deform` visualizes contact-induced deformation patterns.
+- `observation.images.tactile_raw` preserves the raw tactile camera layout for custom preprocessing and representation learning.
+
+All tactile modalities are synchronized with visual observations, proprioception, and actions at 30 FPS. The 60D signal provides a compact tactile representation; the tactile video streams provide spatially resolved observations for models designed to process the additional input resolution.
+
+## Usage Recommendations
+
+For policy learning, a typical configuration is:
+
+- Visual observations: one or more `observation.images.*` streams
+- Proprioception: `observation.state`
+- Optional force and contact inputs: joint torque, TCP state, and `observation.tactile`
+- Optional tactile vision: `observation.images.tactile_deform` and/or `observation.images.tactile_raw`
+- Supervision target: `action`, or `action.tcp_pose` for a TCP-based action representation
+- Language conditioning: structured task instruction, scene description, and success criteria
+- Phase conditioning: frame-aligned subtask text and skill label
+
+For evaluation, split by collection season rather than randomly splitting frames. This reduces temporal leakage and avoids placing closely related demonstrations from the same collection session in both training and evaluation sets. For multi-task experiments, additionally report held-out tasks or task families when measuring cross-task generalization.
+
+## Dataset Notes
+
+- The release is organized by task and collection season, not as one flattened LeRobot root.
+- Every released season includes both `lerobot_v3.0` and `lerobot_v2.1`.
+- Task descriptions, scene details, success criteria, and subtask decomposition may vary between seasons; use the metadata shipped with the selected season as the source of truth.
+- Some long-horizon tasks contain multiple interaction phases and substantial hand-object occlusion.
+- The two tactile video streams are high resolution and may dominate input bandwidth.
+- The dataset contains demonstrations rather than a fixed benchmark split; users should document their task and season splits for reproducibility.
+
+## License and Terms
+
+This dataset is released under the [Creative Commons Attribution 4.0 International License (CC BY 4.0)](https://creativecommons.org/licenses/by/4.0/). You may share and adapt the dataset, including for commercial purposes, provided that you give appropriate attribution and indicate whether changes were made.
+
+## Citation
+
+If this dataset contributes to your research, please cite or acknowledge the dataset:
+
+```bibtex
+@misc{sharpa_open_data_2026,
+  title        = {Sharpa Open Data: Large-Scale Bimanual Dexterous Manipulation Demonstrations},
+  author       = {{Sharpa}},
+  howpublished = {\url{https://huggingface.co/datasets/Sharpa-Robotics/DexSharpa-v1.0}},
+  year         = {2026}
+}
+```

assets/example_views/head_left.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+{"source_uid": "761a8afefd391034", "num_frames": 427, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: cover_ball_with_cup | Scene: A small ball and a yellow cup are on the tabletop between the robot hands. The cup can be lifted and positioned over the ball.", "tags": {"task_name": "cover_ball_with_cup", "task_instruction": "", "scene_description": "A small ball and a yellow cup are on the tabletop between the robot hands. The cup can be lifted and positioned over the ball.", "success_criteria": "", "score": "S", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the yellow cup placed on the black table."}, {"label": "goal", "start_step": 0, "end_step": 187, "id": "6bc70b7a-9a4f-485b-969b-610d6f1bbc7b"}, {"label": "valid", "start_step": 0, "end_step": 390, "id": "tQvSuiuMB781VX259MVuv"}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the yellow cup and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the yellow cup upwards away from the table surface."}, {"label": "home", "start_step": 391, "end_step": 426, "id": "HUK6Uqu8zFHQD04CvX9r4"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the yellow cup placed on the black table."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the yellow cup and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the yellow cup upwards away from the table surface."}], "episode_index": 112, "scene_description_provenance": {"method": "supplemented_task_scene_context", "date": "2026-09-29", "basis": "Existing episode action descriptions with representative source-video frames visually spot-checked; not recovered original scene annotation.", "scope": "Shared object/setup context; does not assert episode-specific object positions or task success.", "episode_language_sha256": "9fc1122afcab9683adc9b6afbe7aa2505fcc6e18977c8fbb2f290349b82b71ec"}}
 {"source_uid": "a16683b99764ac73", "num_frames": 412, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Cover the Ball with the Cup. | Instruction: Pick up the cup, move the cup above the ball, cover the ball with the cup. | Scene: A table with a cup and a ball placed at random positions. | Success: The ball is covered by the cup.", "tags": {"task_name": "Cover the Ball with the Cup.", "task_instruction": "Pick up the cup, move the cup above the ball, cover the ball with the cup.", "scene_description": "A table with a cup and a ball placed at random positions.", "success_criteria": "The ball is covered by the cup.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 181, "id": "subtask-001", "text": "Pick up the cup. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 182, "end_step": 257, "id": "subtask-002", "text": "Move the cup above the ball. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 258, "end_step": 339, "id": "subtask-003", "text": "Cover the ball with the cup. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 181, "id": "subtask-001", "text": "Pick up the cup. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 182, "end_step": 257, "id": "subtask-002", "text": "Move the cup above the ball. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 258, "end_step": 339, "id": "subtask-003", "text": "Cover the ball with the cup. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/easy10/cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/POC22018_2026_05_06_19_18_51_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 114, "v40_language_source": "previous_published_lerobot", "episode_index": 113}
 {"source_uid": "f702e50c86f6ca3b", "num_frames": 424, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Cover the Ball with the Cup. | Instruction: Pick up the cup, move the cup above the ball, cover the ball with the cup. | Scene: A table with a cup and a ball placed at random positions. | Success: The ball is covered by the cup.", "tags": {"task_name": "Cover the Ball with the Cup.", "task_instruction": "Pick up the cup, move the cup above the ball, cover the ball with the cup.", "scene_description": "A table with a cup and a ball placed at random positions.", "success_criteria": "The ball is covered by the cup.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 185, "id": "subtask-001", "text": "Pick up the cup. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 186, "end_step": 262, "id": "subtask-002", "text": "Move the cup above the ball. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 263, "end_step": 352, "id": "subtask-003", "text": "Cover the ball with the cup. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 185, "id": "subtask-001", "text": "Pick up the cup. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 186, "end_step": 262, "id": "subtask-002", "text": "Move the cup above the ball. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 263, "end_step": 352, "id": "subtask-003", "text": "Cover the ball with the cup. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/easy10/cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/POC22018_2026_05_06_19_19_18_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 115, "v40_language_source": "previous_published_lerobot", "episode_index": 114}

cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v2.1/meta/episodes.jsonl

@@ -110,6 +110,6 @@
 {"episode_index": 109, "tasks": ["Task: Cover the Ball with the Cup. | Instruction: Pick up the cup, move the cup above the ball, cover the ball with the cup. | Scene: A table with a cup and a ball placed at random positions. | Success: The ball is covered by the cup."], "length": 443}
 {"episode_index": 110, "tasks": ["Task: Cover the Ball with the Cup. | Instruction: Pick up the cup, move the cup above the ball, cover the ball with the cup. | Scene: A table with a cup and a ball placed at random positions. | Success: The ball is covered by the cup."], "length": 444}
 {"episode_index": 111, "tasks": ["Task: Cover the Ball with the Cup. | Instruction: Pick up the cup, move the cup above the ball, cover the ball with the cup. | Scene: A table with a cup and a ball placed at random positions. | Success: The ball is covered by the cup."], "length": 446}
-{"episode_index": 112, "tasks": ["Task: cover_ball_with_cup"], "length": 427}
+{"episode_index": 112, "tasks": ["Task: cover_ball_with_cup | Scene: A small ball and a yellow cup are on the tabletop between the robot hands. The cup can be lifted and positioned over the ball."], "length": 427}
 {"episode_index": 113, "tasks": ["Task: Cover the Ball with the Cup. | Instruction: Pick up the cup, move the cup above the ball, cover the ball with the cup. | Scene: A table with a cup and a ball placed at random positions. | Success: The ball is covered by the cup."], "length": 412}
 {"episode_index": 114, "tasks": ["Task: Cover the Ball with the Cup. | Instruction: Pick up the cup, move the cup above the ball, cover the ball with the cup. | Scene: A table with a cup and a ball placed at random positions. | Success: The ball is covered by the cup."], "length": 424}

cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v2.1/meta/subtasks.jsonl

@@ -5,4 +5,4 @@
 {"subtask_index": 4, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the yellow cup placed on the black table."}
 {"subtask_index": 5, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the yellow cup and adjusts fingers to form a stable grip."}
 {"subtask_index": 6, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the yellow cup upwards away from the table surface."}
-{"subtask_index": 7, "subtask": "Task: cover_ball_with_cup"}
+{"subtask_index": 7, "subtask": "Task: cover_ball_with_cup | Scene: A small ball and a yellow cup are on the tabletop between the robot hands. The cup can be lifted and positioned over the ball."}

cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v2.1/meta/tasks.jsonl

@@ -1,2 +1,2 @@
 {"task_index": 0, "task": "Task: Cover the Ball with the Cup. | Instruction: Pick up the cup, move the cup above the ball, cover the ball with the cup. | Scene: A table with a cup and a ball placed at random positions. | Success: The ball is covered by the cup."}
-{"task_index": 1, "task": "Task: cover_ball_with_cup"}
+{"task_index": 1, "task": "Task: cover_ball_with_cup | Scene: A small ball and a yellow cup are on the tabletop between the robot hands. The cup can be lifted and positioned over the ball."}

cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v3.0/meta/annotation_cache.jsonl

@@ -110,6 +110,6 @@
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cover_ball_with_cup/season_POC22018_2026_05_06_16_59_53_train/lerobot_v3.0/meta/annotations.jsonl

@@ -110,6 +110,6 @@
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deal_playing_cards/season_POC22002_2026_07_01_16_45_48_train/lerobot_v2.1/meta/subtasks.jsonl

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 {"subtask_index": 43, "subtask": "Left hand: hold: Left hand holds the remaining stack of red textured cards steadily with no observable movement of the hand, fingers or cards. | Right hand: lift: Right hand holds a pink patterned card between its fingers and lifts it upward to separate it from the card stack held by the left hand."}
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deal_playing_cards/season_POC22002_2026_07_02_14_24_33_train/lerobot_v2.1/meta/annotation_cache.jsonl

@@ -36,4 +36,4 @@
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"atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 608, "id": "subtask-005", "text": "Draw the first playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 744, "id": "subtask-006", "text": "Place the first playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 936, "id": "subtask-007", "text": "Draw the second playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1072, "id": "subtask-008", "text": "Place the second playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1073, "end_step": 1336, "id": "subtask-009", "text": "Draw the third playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1337, "end_step": 1480, "id": "subtask-010", "text": "Place the third playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1481, "end_step": 1688, "id": "subtask-011", "text": "Draw the fourth playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1689, "end_step": 1840, "id": "subtask-012", "text": "Place the fourth playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1841, "end_step": 2008, "id": "subtask-013", "text": "Draw the fifth playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 2009, "end_step": 2144, "id": "subtask-014", "text": "Place the fifth playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2145, "end_step": 2200, "id": "subtask-015", "text": "Move the remaining playing cards close to the card tray with the left hand. | Skill: deliver", "task_skill": "deliver", "atomic_action": []}, {"label": "subtasks", "start_step": 2201, "end_step": 2248, "id": "subtask-016", "text": "Place the remaining playing cards into the card tray with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 216, "id": "subtask-001", "text": "Grip the playing card box on the table with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 248, "id": "subtask-002", "text": "Lift the playing card box from the table with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 320, "id": "subtask-003", "text": "Deliver the playing card box from the right hand toward the left hand. | Skill: handover", "task_skill": "handover", "atomic_action": []}, {"label": "subtasks", "start_step": 321, "end_step": 384, "id": "subtask-004", "text": "Take over and securely hold the playing card box with the left hand. | Skill: takeover", "task_skill": "takeover", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 608, "id": "subtask-005", "text": "Draw the first playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 744, "id": "subtask-006", "text": "Place the first playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 936, "id": "subtask-007", "text": "Draw the second playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1072, "id": "subtask-008", "text": "Place the second playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1073, "end_step": 1336, "id": "subtask-009", "text": "Draw the third playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1337, "end_step": 1480, "id": "subtask-010", "text": "Place the third playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1481, "end_step": 1688, "id": "subtask-011", "text": "Draw the fourth playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1689, "end_step": 1840, "id": "subtask-012", "text": "Place the fourth playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1841, "end_step": 2008, "id": "subtask-013", "text": "Draw the fifth playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 2009, "end_step": 2144, "id": "subtask-014", "text": "Place the fifth playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2145, "end_step": 2200, "id": "subtask-015", "text": "Move the remaining playing cards close to the card tray with the left hand. | Skill: deliver", "task_skill": "deliver", "atomic_action": []}, {"label": "subtasks", "start_step": 2201, "end_step": 2248, "id": "subtask-016", "text": "Place the remaining playing cards into the card tray with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: DealingtheCards | Instruction: Grip the playing card box with the right hand and lift it from the table. Deliver the card box to the left hand, and take it over with the left hand. Draw five playing cards from the box one by one with the right hand and place each card on the table. Finally, move the remaining cards toward the card tray with the left hand and place them into the tray. | Scene: A box of playing cards and a card tray are placed on the table. The robot needs to pick up the card box, transfer it from the right hand to the left hand, deal five cards onto the table one by one, and place the remaining cards into the card tray. | Success: Five playing cards are individually drawn and placed flat on the table. The remaining cards are placed securely inside the card tray, and no cards are dropped, bent, or misplaced.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/deal_playing_cards/season_POC22002_2026_07_02_14_24_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 37, "v40_language_source": "previous_published_lerobot", "episode_index": 37}
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grasp: Right hand closes fingers to grasp the pink sponge, making slight grip adjustments."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the pink sponge on the black table without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the pink sponge on the black tabletop."}, {"label": "goal", "start_step": 225, "end_step": 280, "id": "efc7a422-b189-48f4-9f26-93af59e15670"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the pink sponge up from the black tabletop."}, {"label": "goal", "start_step": 281, "end_step": 360, "id": "01294f1a-31a0-4c2b-8471-b4763b0487d9"}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the pink sponge towards the left hand."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves towards the pink sponge with fingers opened. | Right hand: transport: Right hand transports the pink sponge towards the left hand."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty with open fingers at the left side without moving. | Right hand: place: Right hand holds the red card and moves it to the left hand, placing the card on the left hand's fingertips."}, {"label": "goal", "start_step": 361, "end_step": 432, "id": "5ddd77ff-be2c-485c-aa1e-bae648adb59f"}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: place: Right hand holds the red card and moves it to the left hand, placing the card on the left hand's fingertips."}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: release: Right hand opens fingers to release the red card fully."}, {"label": "goal", "start_step": 433, "end_step": 664, "id": "63eaa8bb-fadb-4b1d-9829-ba71e3c33af2"}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: retreat: Right hand moves backward away from the left hand while empty."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: retreat: Right hand moves backward away from the left hand while empty."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: reach: Right hand moves empty towards the stack of red cards held by the left hand."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the 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stack of red cards stably without any movement. | Right hand: place: Right hand places the single card onto the black table surface with downward movement."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: release: Right hand releases the placed card, fingers open slightly to separate from the card."}, {"label": "goal", "start_step": 817, "end_step": 1000, "id": "04acfa00-79f0-4774-9130-d6c724cb5789"}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: reach: Right hand moves towards the stack of red cards held by the left hand."}, {"label": "subtasks", "start_step": 885, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the stack of red cards 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stably without any movement. | Right hand: release: Right hand releases the red card placed on the black table surface."}, {"label": "home", "start_step": 1240, "end_step": 1387, "id": "sK8JQtGBsdqAVSsy00JTO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves forward toward the pink sponge on the black table with fingers open."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes fingers to grasp the pink sponge, making slight grip adjustments."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of 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"start_step": 428, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: release: Right hand opens fingers to release the red card fully."}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: retreat: Right hand moves backward away from the left hand while empty."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: retreat: Right hand moves backward away from the left hand while empty."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: reach: Right hand moves empty towards the stack of red cards held by the left hand."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: grasp: Right hand touches the top red card and closes fingers to grasp a single card from the stack."}, {"label": "subtasks", "start_step": 652, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: lift: Right hand lifts the single grasped red card upward away from the card stack."}, {"label": "subtasks", "start_step": 660, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: transport: Right hand transports the single red mesh card towards the right area of the black table."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: place: Right hand places the single card onto the black table surface with downward movement."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: release: Right hand releases the placed card, fingers open slightly to separate from the card."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: reach: Right hand moves towards the stack of red cards held by the left hand."}, {"label": "subtasks", "start_step": 885, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: grasp: Right hand touches the top of the red card stack, adjusts fingers and grasps the top card from the stack."}, {"label": "subtasks", "start_step": 990, "end_step": 1041, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: transport: Right hand transports a single red card above the black table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: place: Right hand places the single red card onto the black table near the white card."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: release: Right hand releases the red card placed on the black table surface."}], "episode_index": 38}
+{"source_uid": "e68105cf040ae104", "num_frames": 1388, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: DealingtheCards | Scene: A tabletop workspace contains a deck of playing cards and space for placing individual cards. The robot hands manipulate the deck and separate cards over the table.", "tags": {"task_name": "DealingtheCards", "task_instruction": "", "scene_description": "A tabletop workspace contains a deck of playing cards and space for placing individual cards. The robot hands manipulate the deck and separate cards over the table.", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves forward toward the pink sponge on the black table with fingers open."}, {"label": "goal", "start_step": 0, "end_step": 224, "id": "5fa3715b-fd10-495d-ab53-2aa6d59e7c48"}, {"label": "valid", "start_step": 0, "end_step": 1239, "id": "P2CoeRKDzu7HLY-NT4JO0"}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes fingers to grasp the pink sponge, making slight grip adjustments."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the pink sponge on the black table without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the pink sponge on the black tabletop."}, {"label": "goal", "start_step": 225, "end_step": 280, "id": "efc7a422-b189-48f4-9f26-93af59e15670"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the pink sponge up from the black tabletop."}, {"label": "goal", "start_step": 281, "end_step": 360, "id": "01294f1a-31a0-4c2b-8471-b4763b0487d9"}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the pink sponge towards the left hand."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves towards the pink sponge with fingers opened. | Right hand: transport: Right hand transports the pink sponge towards the left hand."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty with open fingers at the left side without moving. | Right hand: place: Right hand holds the red card and moves it to the left hand, placing the card on the left hand's fingertips."}, {"label": "goal", "start_step": 361, "end_step": 432, "id": "5ddd77ff-be2c-485c-aa1e-bae648adb59f"}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: place: Right hand holds the red card and moves it to the left hand, placing the card on the left hand's fingertips."}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: release: Right hand opens fingers to release the red card fully."}, {"label": "goal", "start_step": 433, "end_step": 664, "id": "63eaa8bb-fadb-4b1d-9829-ba71e3c33af2"}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: retreat: Right hand moves backward away from the left hand while empty."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: retreat: Right hand moves backward away from the left hand while empty."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: reach: Right hand moves empty towards the stack of red cards held by the left hand."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: grasp: Right hand touches the top red card and closes fingers to grasp a single card from the stack."}, {"label": "subtasks", "start_step": 652, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: lift: Right hand lifts the single grasped red card upward away from the card stack."}, {"label": "subtasks", "start_step": 660, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: transport: Right hand transports the single red mesh card towards the right area of the black table."}, {"label": "goal", "start_step": 665, "end_step": 816, "id": "6d8e6ac6-0400-4d70-a38a-b5a3b1785df6"}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: place: Right hand places the single card onto the black table surface with downward movement."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: release: Right hand releases the placed card, fingers open slightly to separate from the card."}, {"label": "goal", "start_step": 817, "end_step": 1000, "id": "04acfa00-79f0-4774-9130-d6c724cb5789"}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: reach: Right hand moves towards the stack of red cards held by the left hand."}, {"label": "subtasks", "start_step": 885, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: grasp: Right hand touches the top of the red card stack, adjusts fingers and grasps the top card from the stack."}, {"label": "subtasks", "start_step": 990, "end_step": 1041, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: transport: Right hand transports a single red card above the black table surface."}, {"label": "goal", "start_step": 1001, "end_step": 1152, "id": "12244e61-1794-4559-945e-b32f18e2698a"}, {"label": "subtasks", "start_step": 1042, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: place: Right hand places the single red card onto the black table near the white card."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: release: Right hand releases the red card placed on the black table surface."}, {"label": "home", "start_step": 1240, "end_step": 1387, "id": "sK8JQtGBsdqAVSsy00JTO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves forward toward the pink sponge on the black table with fingers open."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes fingers to grasp the pink sponge, making slight grip adjustments."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the pink sponge on the black table without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the pink sponge on the black tabletop."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the pink sponge up from the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the pink sponge towards the left hand."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves towards the pink sponge with fingers opened. | Right hand: transport: Right hand transports the pink sponge towards the left hand."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty with open fingers at the left side without moving. | Right hand: place: Right hand holds the red card and moves it to the left hand, placing the card on the left hand's fingertips."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: place: Right hand holds the red card and moves it to the left hand, placing the card on the left hand's fingertips."}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: release: Right hand opens fingers to release the red card fully."}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: retreat: Right hand moves backward away from the left hand while empty."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: retreat: Right hand moves backward away from the left hand while empty."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: reach: Right hand moves empty towards the stack of red cards held by the left hand."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: grasp: Right hand touches the top red card and closes fingers to grasp a single card from the stack."}, {"label": "subtasks", "start_step": 652, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: lift: Right hand lifts the single grasped red card upward away from the card stack."}, {"label": "subtasks", "start_step": 660, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: transport: Right hand transports the single red mesh card towards the right area of the black table."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: place: Right hand places the single card onto the black table surface with downward movement."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: release: Right hand releases the placed card, fingers open slightly to separate from the card."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: reach: Right hand moves towards the stack of red cards held by the left hand."}, {"label": "subtasks", "start_step": 885, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: grasp: Right hand touches the top of the red card stack, adjusts fingers and grasps the top card from the stack."}, {"label": "subtasks", "start_step": 990, "end_step": 1041, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: transport: Right hand transports a single red card above the black table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: place: Right hand places the single red card onto the black table near the white card."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: release: Right hand releases the red card placed on the black table surface."}], "episode_index": 38, "scene_description_provenance": {"method": "supplemented_task_scene_context", "date": "2026-09-29", "basis": "Existing episode action descriptions with representative source-video frames visually spot-checked; not recovered original scene annotation.", "scope": "Shared object/setup context; does not assert episode-specific object positions or task success.", "episode_language_sha256": "b010183f91c3fbbc41e3e249ee3be6857da575ed0fc8f934f8843c2ade53ba5a"}}

deal_playing_cards/season_POC22002_2026_07_02_14_24_33_train/lerobot_v2.1/meta/annotations.jsonl

@@ -36,4 +36,4 @@
 {"source_uid": "5cc494811141bd9f", "num_frames": 2132, "episode_id": "POC22002_2026_07_02_15_50_47_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/DealingtheCards/season_POC22002_2026_07_02_14_24_33_train/POC22002_2026_07_02_15_50_47_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/DealingtheCards/season_POC22002_2026_07_02_14_24_33_train/POC22002_2026_07_02_15_50_47_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/DealingtheCards/season_POC22002_2026_07_02_14_24_33_train/POC22002_2026_07_02_15_50_47_train/train_0.3.0@2026_07_02_15_50_47.hdf5", "tags": {"task_name": "DealingtheCards", "task_instruction": "Grip the playing card box with the right hand and lift it from the table. Deliver the card box to the left hand, and take it over with the left hand. Draw five playing cards from the box one by one with the right hand and place each card on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 1873, "end_step": 1992, "id": "subtask-014", "text": "Place the fifth playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1993, "end_step": 2064, "id": "subtask-015", "text": "Move the remaining playing cards close to the card tray with the left hand. | Skill: deliver", "task_skill": "deliver", "atomic_action": []}, {"label": "subtasks", "start_step": 2065, "end_step": 2088, "id": "subtask-016", "text": "Place the remaining playing cards into the card tray with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 240, "id": "subtask-001", "text": "Grip the playing card box on the table with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 280, "id": "subtask-002", "text": "Lift the playing card box from the table with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 384, "id": "subtask-003", "text": "Deliver the playing card box from the right hand toward the left hand. | Skill: handover", "task_skill": "handover", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 424, "id": "subtask-004", "text": "Take over and securely hold the playing card box with the left hand. | Skill: takeover", "task_skill": "takeover", "atomic_action": []}, {"label": "subtasks", "start_step": 425, "end_step": 688, "id": "subtask-005", "text": "Draw the first playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 689, "end_step": 840, "id": "subtask-006", "text": "Place the first playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 1000, "id": "subtask-007", "text": "Draw the second playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1001, "end_step": 1136, "id": "subtask-008", "text": "Place the second playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1137, "end_step": 1304, "id": "subtask-009", "text": "Draw the third playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1305, "end_step": 1448, "id": "subtask-010", "text": "Place the third playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1449, "end_step": 1600, "id": "subtask-011", "text": "Draw the fourth playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1601, "end_step": 1728, "id": "subtask-012", "text": "Place the fourth playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1729, "end_step": 1872, "id": "subtask-013", "text": "Draw the fifth playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1873, "end_step": 1992, "id": "subtask-014", "text": "Place the fifth playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1993, "end_step": 2064, "id": "subtask-015", "text": "Move the remaining playing cards close to the card tray with the left hand. | Skill: deliver", "task_skill": "deliver", "atomic_action": []}, {"label": "subtasks", "start_step": 2065, "end_step": 2088, "id": "subtask-016", "text": "Place the remaining playing cards into the card tray with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: DealingtheCards | Instruction: Grip the playing card box with the right hand and lift it from the table. Deliver the card box to the left hand, and take it over with the left hand. Draw five playing cards from the box one by one with the right hand and place each card on the table. Finally, move the remaining cards toward the card tray with the left hand and place them into the tray. | Scene: A box of playing cards and a card tray are placed on the table. The robot needs to pick up the card box, transfer it from the right hand to the left hand, deal five cards onto the table one by one, and place the remaining cards into the card tray. | Success: Five playing cards are individually drawn and placed flat on the table. The remaining cards are placed securely inside the card tray, and no cards are dropped, bent, or misplaced.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/deal_playing_cards/season_POC22002_2026_07_02_14_24_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 35, "v40_language_source": "previous_published_lerobot", "episode_index": 35}
 {"source_uid": "24a3e7418a570a7f", "num_frames": 2045, "episode_id": "POC22002_2026_07_02_15_52_57_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/DealingtheCards/season_POC22002_2026_07_02_14_24_33_train/POC22002_2026_07_02_15_52_57_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/DealingtheCards/season_POC22002_2026_07_02_14_24_33_train/POC22002_2026_07_02_15_52_57_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/DealingtheCards/season_POC22002_2026_07_02_14_24_33_train/POC22002_2026_07_02_15_52_57_train/train_0.3.0@2026_07_02_15_52_57.hdf5", "tags": {"task_name": "DealingtheCards", "task_instruction": "Grip the playing card box with the right hand and lift it from the table. Deliver the card box to the left hand, and take it over with the left hand. Draw five playing cards from the box one by one with the right hand and place each card on the table. 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Right hand lifts the pink sponge up from the black tabletop."}, {"label": "goal", "start_step": 281, "end_step": 360, "id": "01294f1a-31a0-4c2b-8471-b4763b0487d9"}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the pink sponge towards the left hand."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves towards the pink sponge with fingers opened. | Right hand: transport: Right hand transports the pink sponge towards the left hand."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty with open fingers at the left side without moving. | Right hand: place: Right hand holds the red card and moves it to the left hand, placing 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"subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves towards the pink sponge with fingers opened. | Right hand: transport: Right hand transports the pink sponge towards the left hand."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty with open fingers at the left side without moving. | Right hand: place: Right hand holds the red card and moves it to the left hand, placing the card on the left hand's fingertips."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: place: Right hand holds the red card and moves it to the left hand, placing the card on the left hand's fingertips."}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: release: Right hand opens fingers to release the red card fully."}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: retreat: Right hand moves backward away from the left hand while empty."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: retreat: Right hand moves backward away from the left hand while empty."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: reach: Right hand moves empty towards the stack of red cards held by the left hand."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: grasp: Right hand touches the top red card and closes fingers to grasp a single card from the stack."}, {"label": "subtasks", "start_step": 652, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: lift: Right hand lifts the single grasped red card upward away from the card stack."}, {"label": "subtasks", "start_step": 660, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: transport: Right hand transports the single red mesh card towards the right area of the black table."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: place: Right hand places the single card onto the black table surface with downward movement."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: release: Right hand releases the placed card, fingers open slightly to separate from the card."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: reach: Right hand moves towards the stack of red cards held by the left hand."}, {"label": "subtasks", "start_step": 885, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: grasp: Right hand touches the top of the red card stack, adjusts fingers and grasps the top card from the stack."}, {"label": "subtasks", "start_step": 990, "end_step": 1041, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: transport: Right hand transports a single red card above the black table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: place: Right hand places the single red card onto the black table near the white card."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: release: Right hand releases the red card placed on the black table surface."}], "episode_index": 38}
+{"source_uid": "e68105cf040ae104", "num_frames": 1388, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: DealingtheCards | Scene: A tabletop workspace contains a deck of playing cards and space for placing individual cards. The robot hands manipulate the deck and separate cards over the table.", "tags": {"task_name": "DealingtheCards", "task_instruction": "", "scene_description": "A tabletop workspace contains a deck of playing cards and space for placing individual cards. The robot hands manipulate the deck and separate cards over the table.", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves forward toward the pink sponge on the black table with fingers open."}, {"label": "goal", "start_step": 0, "end_step": 224, "id": "5fa3715b-fd10-495d-ab53-2aa6d59e7c48"}, {"label": "valid", "start_step": 0, "end_step": 1239, "id": "P2CoeRKDzu7HLY-NT4JO0"}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes fingers to grasp the pink sponge, making slight grip adjustments."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the pink sponge on the black table without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the pink sponge on the black tabletop."}, {"label": "goal", "start_step": 225, "end_step": 280, "id": "efc7a422-b189-48f4-9f26-93af59e15670"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the pink sponge up from the black tabletop."}, {"label": "goal", "start_step": 281, "end_step": 360, "id": "01294f1a-31a0-4c2b-8471-b4763b0487d9"}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the pink sponge towards the left hand."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves towards the pink sponge with fingers opened. | Right hand: transport: Right hand transports the pink sponge towards the left hand."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty with open fingers at the left side without moving. | Right hand: place: Right hand holds the red card and moves it to the left hand, placing the card on the left hand's fingertips."}, {"label": "goal", "start_step": 361, "end_step": 432, "id": "5ddd77ff-be2c-485c-aa1e-bae648adb59f"}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: place: Right hand holds the red card and moves it to the left hand, placing the card on the left hand's fingertips."}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: release: Right hand opens fingers to release the red card fully."}, {"label": "goal", "start_step": 433, "end_step": 664, "id": "63eaa8bb-fadb-4b1d-9829-ba71e3c33af2"}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: grasp: Left hand closes fingers to 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black table surface with downward movement."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: release: Right hand releases the placed card, fingers open slightly to separate from the card."}, {"label": "goal", "start_step": 817, "end_step": 1000, "id": "04acfa00-79f0-4774-9130-d6c724cb5789"}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: reach: Right hand moves towards the stack of red cards held by the left hand."}, {"label": "subtasks", "start_step": 885, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: grasp: Right hand touches the top of the red card stack, adjusts fingers and grasps the top card from the stack."}, {"label": "subtasks", "start_step": 990, "end_step": 1041, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: transport: Right hand transports a single red card above the black table surface."}, {"label": "goal", "start_step": 1001, "end_step": 1152, "id": "12244e61-1794-4559-945e-b32f18e2698a"}, {"label": "subtasks", "start_step": 1042, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: place: Right hand places the single red card onto the black table near the white card."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: release: Right hand releases the red card placed on the black table surface."}, {"label": "home", "start_step": 1240, "end_step": 1387, "id": "sK8JQtGBsdqAVSsy00JTO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves forward toward the pink sponge on the black table with fingers open."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes fingers to grasp the pink sponge, making slight grip adjustments."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the pink sponge on the black table without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the pink sponge on the black tabletop."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the pink sponge up from the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the pink sponge towards the left hand."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves towards the pink sponge with fingers opened. | Right hand: transport: Right hand transports the pink sponge towards the left hand."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty with open fingers at the left side without moving. | Right hand: place: Right hand holds the red card and moves it to the left hand, placing the card on the left hand's fingertips."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: place: Right hand holds the red card and moves it to the left hand, placing the card on the left hand's fingertips."}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: release: Right hand opens fingers to release the red card fully."}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: retreat: Right hand moves backward away from the left hand while empty."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: retreat: Right hand moves backward away from the left hand while empty."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: reach: Right hand moves empty towards the stack of red cards held by the left hand."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: grasp: Right hand touches the top red card and closes fingers to grasp a single card from the stack."}, {"label": "subtasks", "start_step": 652, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: lift: Right hand lifts the single grasped red card upward away from the card stack."}, {"label": "subtasks", "start_step": 660, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: transport: Right hand transports the single red mesh card towards the right area of the black table."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: place: Right hand places the single card onto the black table surface with downward movement."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: release: Right hand releases the placed card, fingers open slightly to separate from the card."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: reach: Right hand moves towards the stack of red cards held by the left hand."}, {"label": "subtasks", "start_step": 885, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: grasp: Right hand touches the top of the red card stack, adjusts fingers and grasps the top card from the stack."}, {"label": "subtasks", "start_step": 990, "end_step": 1041, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: transport: Right hand transports a single red card above the black table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: place: Right hand places the single red card onto the black table near the white card."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: release: Right hand releases the red card placed on the black table surface."}], "episode_index": 38, "scene_description_provenance": {"method": "supplemented_task_scene_context", "date": "2026-09-29", "basis": "Existing episode action descriptions with representative source-video frames visually spot-checked; not recovered original scene annotation.", "scope": "Shared object/setup context; does not assert episode-specific object positions or task success.", "episode_language_sha256": "b010183f91c3fbbc41e3e249ee3be6857da575ed0fc8f934f8843c2ade53ba5a"}}

deal_playing_cards/season_POC22002_2026_07_02_14_24_33_train/lerobot_v2.1/meta/episodes.jsonl

@@ -36,4 +36,4 @@
 {"episode_index": 35, "tasks": ["Task: DealingtheCards | Instruction: Grip the playing card box with the right hand and lift it from the table. Deliver the card box to the left hand, and take it over with the left hand. Draw five playing cards from the box one by one with the right hand and place each card on the table. Finally, move the remaining cards toward the card tray with the left hand and place them into the tray. | Scene: A box of playing cards and a card tray are placed on the table. The robot needs to pick up the card box, transfer it from the right hand to the left hand, deal five cards onto the table one by one, and place the remaining cards into the card tray. | Success: Five playing cards are individually drawn and placed flat on the table. The remaining cards are placed securely inside the card tray, and no cards are dropped, bent, or misplaced."], "length": 2132}
 {"episode_index": 36, "tasks": ["Task: DealingtheCards | Instruction: Grip the playing card box with the right hand and lift it from the table. Deliver the card box to the left hand, and take it over with the left hand. Draw five playing cards from the box one by one with the right hand and place each card on the table. Finally, move the remaining cards toward the card tray with the left hand and place them into the tray. | Scene: A box of playing cards and a card tray are placed on the table. The robot needs to pick up the card box, transfer it from the right hand to the left hand, deal five cards onto the table one by one, and place the remaining cards into the card tray. | Success: Five playing cards are individually drawn and placed flat on the table. The remaining cards are placed securely inside the card tray, and no cards are dropped, bent, or misplaced."], "length": 2045}
 {"episode_index": 37, "tasks": ["Task: DealingtheCards | Instruction: Grip the playing card box with the right hand and lift it from the table. Deliver the card box to the left hand, and take it over with the left hand. Draw five playing cards from the box one by one with the right hand and place each card on the table. Finally, move the remaining cards toward the card tray with the left hand and place them into the tray. | Scene: A box of playing cards and a card tray are placed on the table. The robot needs to pick up the card box, transfer it from the right hand to the left hand, deal five cards onto the table one by one, and place the remaining cards into the card tray. | Success: Five playing cards are individually drawn and placed flat on the table. The remaining cards are placed securely inside the card tray, and no cards are dropped, bent, or misplaced."], "length": 2268}
-{"episode_index": 38, "tasks": ["Task: DealingtheCards"], "length": 1388}
+{"episode_index": 38, "tasks": ["Task: DealingtheCards | Scene: A tabletop workspace contains a deck of playing cards and space for placing individual cards. The robot hands manipulate the deck and separate cards over the table."], "length": 1388}

deal_playing_cards/season_POC22002_2026_07_02_14_24_33_train/lerobot_v2.1/meta/subtasks.jsonl

@@ -38,4 +38,4 @@
 {"subtask_index": 37, "subtask": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: transport: Right hand transports a single red card above the black table surface."}
 {"subtask_index": 38, "subtask": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: place: Right hand places the single red card onto the black table near the white card."}
 {"subtask_index": 39, "subtask": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: release: Right hand releases the red card placed on the black table surface."}
-{"subtask_index": 40, "subtask": "Task: DealingtheCards"}
+{"subtask_index": 40, "subtask": "Task: DealingtheCards | Scene: A tabletop workspace contains a deck of playing cards and space for placing individual cards. The robot hands manipulate the deck and separate cards over the table."}

deal_playing_cards/season_POC22002_2026_07_02_14_24_33_train/lerobot_v2.1/meta/tasks.jsonl

@@ -1,2 +1,2 @@
 {"task_index": 0, "task": "Task: DealingtheCards | Instruction: Grip the playing card box with the right hand and lift it from the table. Deliver the card box to the left hand, and take it over with the left hand. Draw five playing cards from the box one by one with the right hand and place each card on the table. Finally, move the remaining cards toward the card tray with the left hand and place them into the tray. | Scene: A box of playing cards and a card tray are placed on the table. The robot needs to pick up the card box, transfer it from the right hand to the left hand, deal five cards onto the table one by one, and place the remaining cards into the card tray. | Success: Five playing cards are individually drawn and placed flat on the table. The remaining cards are placed securely inside the card tray, and no cards are dropped, bent, or misplaced."}
-{"task_index": 1, "task": "Task: DealingtheCards"}
+{"task_index": 1, "task": "Task: DealingtheCards | Scene: A tabletop workspace contains a deck of playing cards and space for placing individual cards. The robot hands manipulate the deck and separate cards over the table."}

deal_playing_cards/season_POC22002_2026_07_02_14_24_33_train/lerobot_v3.0/meta/annotation_cache.jsonl

@@ -36,4 +36,4 @@
 {"source_uid": "5cc494811141bd9f", "num_frames": 2132, "episode_id": "POC22002_2026_07_02_15_50_47_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/DealingtheCards/season_POC22002_2026_07_02_14_24_33_train/POC22002_2026_07_02_15_50_47_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/DealingtheCards/season_POC22002_2026_07_02_14_24_33_train/POC22002_2026_07_02_15_50_47_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/DealingtheCards/season_POC22002_2026_07_02_14_24_33_train/POC22002_2026_07_02_15_50_47_train/train_0.3.0@2026_07_02_15_50_47.hdf5", "tags": {"task_name": "DealingtheCards", "task_instruction": "Grip the playing card box with the right hand and lift it from the table. Deliver the card box to the left hand, and take it over with the left hand. Draw five playing cards from the box one by one with the right hand and place each card on the table. Finally, move the remaining cards toward the card tray with the left hand and place them into the tray.", "scene_description": "A box of playing cards and a card tray are placed on the table. The robot needs to pick up the card box, transfer it from the right hand to the left hand, deal five cards onto the table one by one, and place the remaining cards into the card tray.", "success_criteria": "Five playing cards are individually drawn and placed flat on the table. The remaining cards are placed securely inside the card tray, and no cards are dropped, bent, or misplaced.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 240, "id": "subtask-001", "text": "Grip the playing card box on the table with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 280, "id": "subtask-002", "text": "Lift the playing card box from the table with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 384, "id": "subtask-003", "text": "Deliver the playing card box from the right hand toward the left hand. | Skill: handover", "task_skill": "handover", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 424, "id": "subtask-004", "text": "Take over and securely hold the playing card box with the left hand. | Skill: takeover", "task_skill": "takeover", "atomic_action": []}, {"label": "subtasks", "start_step": 425, "end_step": 688, "id": "subtask-005", "text": "Draw the first playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 689, "end_step": 840, "id": "subtask-006", "text": "Place the first playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 1000, "id": "subtask-007", "text": "Draw the second playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1001, "end_step": 1136, "id": "subtask-008", "text": "Place the second playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1137, "end_step": 1304, "id": "subtask-009", "text": "Draw the third playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1305, "end_step": 1448, "id": "subtask-010", "text": "Place the third playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1449, "end_step": 1600, "id": "subtask-011", "text": "Draw the fourth playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1601, "end_step": 1728, "id": "subtask-012", "text": "Place the fourth playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1729, "end_step": 1872, "id": "subtask-013", "text": "Draw the fifth playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1873, "end_step": 1992, "id": "subtask-014", "text": "Place the fifth playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1993, "end_step": 2064, "id": "subtask-015", "text": "Move the remaining playing cards close to the card tray with the left hand. | Skill: deliver", "task_skill": "deliver", "atomic_action": []}, {"label": "subtasks", "start_step": 2065, "end_step": 2088, "id": "subtask-016", "text": "Place the remaining playing cards into the card tray with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 240, "id": "subtask-001", "text": "Grip the playing card box on the table with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 280, "id": "subtask-002", "text": "Lift the playing card box from the table with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 384, "id": "subtask-003", "text": "Deliver the playing card box from the right hand toward the left hand. | Skill: handover", "task_skill": "handover", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 424, "id": "subtask-004", "text": "Take over and securely hold the playing card box with the left hand. | Skill: takeover", "task_skill": "takeover", "atomic_action": []}, {"label": "subtasks", "start_step": 425, "end_step": 688, "id": "subtask-005", "text": "Draw the first playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 689, "end_step": 840, "id": "subtask-006", "text": "Place the first playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 1000, "id": "subtask-007", "text": "Draw the second playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1001, "end_step": 1136, "id": "subtask-008", "text": "Place the second playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1137, "end_step": 1304, "id": "subtask-009", "text": "Draw the third playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1305, "end_step": 1448, "id": "subtask-010", "text": "Place the third playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1449, "end_step": 1600, "id": "subtask-011", "text": "Draw the fourth playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1601, "end_step": 1728, "id": "subtask-012", "text": "Place the fourth playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1729, "end_step": 1872, "id": "subtask-013", "text": "Draw the fifth playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1873, "end_step": 1992, "id": "subtask-014", "text": "Place the fifth playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1993, "end_step": 2064, "id": "subtask-015", "text": "Move the remaining playing cards close to the card tray with the left hand. | Skill: deliver", "task_skill": "deliver", "atomic_action": []}, {"label": "subtasks", "start_step": 2065, "end_step": 2088, "id": "subtask-016", "text": "Place the remaining playing cards into the card tray with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: DealingtheCards | Instruction: Grip the playing card box with the right hand and lift it from the table. Deliver the card box to the left hand, and take it over with the left hand. Draw five playing cards from the box one by one with the right hand and place each card on the table. Finally, move the remaining cards toward the card tray with the left hand and place them into the tray. | Scene: A box of playing cards and a card tray are placed on the table. The robot needs to pick up the card box, transfer it from the right hand to the left hand, deal five cards onto the table one by one, and place the remaining cards into the card tray. | Success: Five playing cards are individually drawn and placed flat on the table. The remaining cards are placed securely inside the card tray, and no cards are dropped, bent, or misplaced.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/deal_playing_cards/season_POC22002_2026_07_02_14_24_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 35, "v40_language_source": "previous_published_lerobot", "episode_index": 35}
 {"source_uid": "24a3e7418a570a7f", "num_frames": 2045, "episode_id": "POC22002_2026_07_02_15_52_57_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/DealingtheCards/season_POC22002_2026_07_02_14_24_33_train/POC22002_2026_07_02_15_52_57_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/DealingtheCards/season_POC22002_2026_07_02_14_24_33_train/POC22002_2026_07_02_15_52_57_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/DealingtheCards/season_POC22002_2026_07_02_14_24_33_train/POC22002_2026_07_02_15_52_57_train/train_0.3.0@2026_07_02_15_52_57.hdf5", "tags": {"task_name": "DealingtheCards", "task_instruction": "Grip the playing card box with the right hand and lift it from the table. Deliver the card box to the left hand, and take it over with the left hand. Draw five playing cards from the box one by one with the right hand and place each card on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 1800, "end_step": 1909, "id": "subtask-014", "text": "Place the fifth playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1910, "end_step": 1974, "id": "subtask-015", "text": "Move the remaining playing cards close to the card tray with the left hand. | Skill: deliver", "task_skill": "deliver", "atomic_action": []}, {"label": "subtasks", "start_step": 1975, "end_step": 1994, "id": "subtask-016", "text": "Place the remaining playing cards into the card tray with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Grip the playing card box on the table with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 229, "id": 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"subtask-011", "text": "Draw the fourth playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1530, "end_step": 1669, "id": "subtask-012", "text": "Place the fourth playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1670, "end_step": 1799, "id": "subtask-013", "text": "Draw the fifth playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1800, "end_step": 1909, "id": "subtask-014", "text": "Place the fifth playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1910, "end_step": 1974, "id": "subtask-015", "text": "Move the remaining playing cards close to the card tray with the left hand. | Skill: deliver", "task_skill": "deliver", "atomic_action": []}, {"label": "subtasks", "start_step": 1975, "end_step": 1994, "id": "subtask-016", "text": "Place the remaining playing cards into the card tray with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: DealingtheCards | Instruction: Grip the playing card box with the right hand and lift it from the table. Deliver the card box to the left hand, and take it over with the left hand. Draw five playing cards from the box one by one with the right hand and place each card on the table. Finally, move the remaining cards toward the card tray with the left hand and place them into the tray. | Scene: A box of playing cards and a card tray are placed on the table. The robot needs to pick up the card box, transfer it from the right hand to the left hand, deal five cards onto the table one by one, and place the remaining cards into the card tray. | Success: Five playing cards are individually drawn and placed flat on the table. The remaining cards are placed securely inside the card tray, and no cards are dropped, bent, or misplaced.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/deal_playing_cards/season_POC22002_2026_07_02_14_24_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 36, "v40_language_source": "previous_published_lerobot", "episode_index": 36}
 {"source_uid": "24cd69d40dc4fe82", "num_frames": 2268, "episode_id": "POC22002_2026_07_02_15_54_25_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/DealingtheCards/season_POC22002_2026_07_02_14_24_33_train/POC22002_2026_07_02_15_54_25_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/DealingtheCards/season_POC22002_2026_07_02_14_24_33_train/POC22002_2026_07_02_15_54_25_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/DealingtheCards/season_POC22002_2026_07_02_14_24_33_train/POC22002_2026_07_02_15_54_25_train/train_0.3.0@2026_07_02_15_54_25.hdf5", "tags": {"task_name": "DealingtheCards", "task_instruction": "Grip the playing card box with the right hand and lift it from the table. Deliver the card box to the left hand, and take it over with the left hand. Draw five playing cards from the box one by one with the right hand and place each card on the table. Finally, move the remaining cards toward the card tray with the left hand and place them into the tray.", "scene_description": "A box of playing cards and a card tray are placed on the table. The robot needs to pick up the card box, transfer it from the right hand to the left hand, deal five cards onto the table one by one, and place the remaining cards into the card tray.", "success_criteria": "Five playing cards are individually drawn and placed flat on the table. 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"atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 608, "id": "subtask-005", "text": "Draw the first playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 744, "id": "subtask-006", "text": "Place the first playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 936, "id": "subtask-007", "text": "Draw the second playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1072, "id": "subtask-008", "text": "Place the second playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1073, "end_step": 1336, "id": "subtask-009", "text": "Draw the third playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1337, "end_step": 1480, "id": "subtask-010", "text": "Place the third playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1481, "end_step": 1688, "id": "subtask-011", "text": "Draw the fourth playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1689, "end_step": 1840, "id": "subtask-012", "text": "Place the fourth playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1841, "end_step": 2008, "id": "subtask-013", "text": "Draw the fifth playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 2009, "end_step": 2144, "id": "subtask-014", "text": "Place the fifth playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2145, "end_step": 2200, "id": "subtask-015", "text": "Move the remaining playing cards close to the card tray with the left hand. | Skill: deliver", "task_skill": "deliver", "atomic_action": []}, {"label": "subtasks", "start_step": 2201, "end_step": 2248, "id": "subtask-016", "text": "Place the remaining playing cards into the card tray with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 216, "id": "subtask-001", "text": "Grip the playing card box on the table with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 217, "end_step": 248, "id": "subtask-002", "text": "Lift the playing card box from the table with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 320, "id": "subtask-003", "text": "Deliver the playing card box from the right hand toward the left hand. | Skill: handover", "task_skill": "handover", "atomic_action": []}, {"label": "subtasks", "start_step": 321, "end_step": 384, "id": "subtask-004", "text": "Take over and securely hold the playing card box with the left hand. | Skill: takeover", "task_skill": "takeover", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 608, "id": "subtask-005", "text": "Draw the first playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 744, "id": "subtask-006", "text": "Place the first playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 936, "id": "subtask-007", "text": "Draw the second playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1072, "id": "subtask-008", "text": "Place the second playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1073, "end_step": 1336, "id": "subtask-009", "text": "Draw the third playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1337, "end_step": 1480, "id": "subtask-010", "text": "Place the third playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1481, "end_step": 1688, "id": "subtask-011", "text": "Draw the fourth playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1689, "end_step": 1840, "id": "subtask-012", "text": "Place the fourth playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1841, "end_step": 2008, "id": "subtask-013", "text": "Draw the fifth playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 2009, "end_step": 2144, "id": "subtask-014", "text": "Place the fifth playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2145, "end_step": 2200, "id": "subtask-015", "text": "Move the remaining playing cards close to the card tray with the left hand. | Skill: deliver", "task_skill": "deliver", "atomic_action": []}, {"label": "subtasks", "start_step": 2201, "end_step": 2248, "id": "subtask-016", "text": "Place the remaining playing cards into the card tray with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: DealingtheCards | Instruction: Grip the playing card box with the right hand and lift it from the table. Deliver the card box to the left hand, and take it over with the left hand. Draw five playing cards from the box one by one with the right hand and place each card on the table. Finally, move the remaining cards toward the card tray with the left hand and place them into the tray. | Scene: A box of playing cards and a card tray are placed on the table. The robot needs to pick up the card box, transfer it from the right hand to the left hand, deal five cards onto the table one by one, and place the remaining cards into the card tray. | Success: Five playing cards are individually drawn and placed flat on the table. The remaining cards are placed securely inside the card tray, and no cards are dropped, bent, or misplaced.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/deal_playing_cards/season_POC22002_2026_07_02_14_24_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 37, "v40_language_source": "previous_published_lerobot", "episode_index": 37}
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Right hand lifts the pink sponge up from the black tabletop."}, {"label": "goal", "start_step": 281, "end_step": 360, "id": "01294f1a-31a0-4c2b-8471-b4763b0487d9"}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the pink sponge towards the left hand."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves towards the pink sponge with fingers opened. | Right hand: transport: Right hand transports the pink sponge towards the left hand."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty with open fingers at the left side without moving. | Right hand: place: Right hand holds the red card and moves it to the left hand, placing the card on the left hand's fingertips."}, {"label": "goal", "start_step": 361, "end_step": 432, "id": "5ddd77ff-be2c-485c-aa1e-bae648adb59f"}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: place: Right hand holds the red card and moves it to the left hand, placing the card on the left hand's fingertips."}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: release: Right hand opens fingers to release the red card fully."}, {"label": "goal", "start_step": 433, "end_step": 664, "id": "63eaa8bb-fadb-4b1d-9829-ba71e3c33af2"}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: retreat: Right hand moves backward away from the left hand while empty."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: retreat: Right hand moves backward away from the left hand while empty."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: reach: Right hand moves empty towards the stack of red cards held by the left hand."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the 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"start_step": 428, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: release: Right hand opens fingers to release the red card fully."}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: retreat: Right hand moves backward away from the left hand while empty."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: retreat: Right hand moves backward away from the left hand while empty."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: reach: Right hand moves empty towards the stack of red cards held by the left hand."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: grasp: Right hand touches the top red card and closes fingers to grasp a single card from the stack."}, {"label": "subtasks", "start_step": 652, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: lift: Right hand lifts the single grasped red card upward away from the card stack."}, {"label": "subtasks", "start_step": 660, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: transport: Right hand transports the single red mesh card towards the right area of the black table."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: place: Right hand places the single card onto the black table surface with downward movement."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: release: Right hand releases the placed card, fingers open slightly to separate from the card."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: reach: Right hand moves towards the stack of red cards held by the left hand."}, {"label": "subtasks", "start_step": 885, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: grasp: Right hand touches the top of the red card stack, adjusts fingers and grasps the top card from the stack."}, {"label": "subtasks", "start_step": 990, "end_step": 1041, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: transport: Right hand transports a single red card above the black table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: place: Right hand places the single red card onto the black table near the white card."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: release: Right hand releases the red card placed on the black table surface."}], "episode_index": 38}
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"reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the pink sponge on the black table without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the pink sponge on the black tabletop."}, {"label": "goal", "start_step": 225, "end_step": 280, "id": "efc7a422-b189-48f4-9f26-93af59e15670"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the pink sponge up from the black tabletop."}, {"label": "goal", "start_step": 281, "end_step": 360, "id": "01294f1a-31a0-4c2b-8471-b4763b0487d9"}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the pink sponge towards the left hand."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves towards the pink sponge with fingers opened. | Right hand: transport: Right hand transports the pink sponge towards the left hand."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty with open fingers at the left side without moving. | Right hand: place: Right hand holds the red card and moves it to the left hand, placing the card on the left hand's fingertips."}, {"label": "goal", "start_step": 361, "end_step": 432, "id": "5ddd77ff-be2c-485c-aa1e-bae648adb59f"}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: place: Right hand holds the red card and moves it to the left hand, placing the card on the left hand's fingertips."}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: release: Right hand opens fingers to release the red card fully."}, {"label": "goal", "start_step": 433, "end_step": 664, "id": "63eaa8bb-fadb-4b1d-9829-ba71e3c33af2"}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: retreat: Right hand moves backward away from the left hand while empty."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: retreat: Right hand moves backward away from the left hand while empty."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: reach: Right hand moves empty towards the stack of red cards held by the left hand."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: grasp: Right hand touches the top red card and closes fingers to grasp a single card from the stack."}, {"label": "subtasks", "start_step": 652, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: lift: Right hand lifts the single grasped red card upward away from the card stack."}, {"label": "subtasks", "start_step": 660, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: transport: Right hand transports the single red mesh card towards the right area of the black table."}, {"label": "goal", "start_step": 665, "end_step": 816, "id": "6d8e6ac6-0400-4d70-a38a-b5a3b1785df6"}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: place: Right hand places the single card onto the black table surface with downward movement."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: release: Right hand releases the placed card, fingers open slightly to separate from the card."}, {"label": "goal", "start_step": 817, "end_step": 1000, "id": "04acfa00-79f0-4774-9130-d6c724cb5789"}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: reach: Right hand moves towards the stack of red cards held by the left hand."}, {"label": "subtasks", "start_step": 885, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: grasp: Right hand touches the top of the red card stack, adjusts fingers and grasps the top card from the stack."}, {"label": "subtasks", "start_step": 990, "end_step": 1041, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: transport: Right hand transports a single red card above the black table surface."}, {"label": "goal", "start_step": 1001, "end_step": 1152, "id": "12244e61-1794-4559-945e-b32f18e2698a"}, {"label": "subtasks", "start_step": 1042, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: place: Right hand places the single red card onto the black table near the white card."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: release: Right hand releases the red card placed on the black table surface."}, {"label": "home", "start_step": 1240, "end_step": 1387, "id": "sK8JQtGBsdqAVSsy00JTO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves forward toward the pink sponge on the black table with fingers open."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand closes fingers to grasp the pink sponge, making slight grip adjustments."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the pink sponge on the black table without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the pink sponge on the black tabletop."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the pink sponge up from the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the pink sponge towards the left hand."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves towards the pink sponge with fingers opened. | Right hand: transport: Right hand transports the pink sponge towards the left hand."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty with open fingers at the left side without moving. | Right hand: place: Right hand holds the red card and moves it to the left hand, placing the card on the left hand's fingertips."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: place: Right hand holds the red card and moves it to the left hand, placing the card on the left hand's fingertips."}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: release: Right hand opens fingers to release the red card fully."}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: grasp: Left hand closes fingers to grasp the red card passed by the right hand, then adjusts grip slightly to stabilize the card stack. | Right hand: retreat: Right hand moves backward away from the left hand while empty."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: retreat: Right hand moves backward away from the left hand while empty."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: reach: Right hand moves empty towards the stack of red cards held by the left hand."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: grasp: Right hand touches the top red card and closes fingers to grasp a single card from the stack."}, {"label": "subtasks", "start_step": 652, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: lift: Right hand lifts the single grasped red card upward away from the card stack."}, {"label": "subtasks", "start_step": 660, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: transport: Right hand transports the single red mesh card towards the right area of the black table."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: place: Right hand places the single card onto the black table surface with downward movement."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: release: Right hand releases the placed card, fingers open slightly to separate from the card."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: reach: Right hand moves towards the stack of red cards held by the left hand."}, {"label": "subtasks", "start_step": 885, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: grasp: Right hand touches the top of the red card stack, adjusts fingers and grasps the top card from the stack."}, {"label": "subtasks", "start_step": 990, "end_step": 1041, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: transport: Right hand transports a single red card above the black table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: place: Right hand places the single red card onto the black table near the white card."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the stack of red cards stably without any movement. | Right hand: release: Right hand releases the red card placed on the black table surface."}], "episode_index": 38, "scene_description_provenance": {"method": "supplemented_task_scene_context", "date": "2026-09-29", "basis": "Existing episode action descriptions with representative source-video frames visually spot-checked; not recovered original scene annotation.", "scope": "Shared object/setup context; does not assert episode-specific object positions or task success.", "episode_language_sha256": "b010183f91c3fbbc41e3e249ee3be6857da575ed0fc8f934f8843c2ade53ba5a"}}

deal_playing_cards/season_POC22002_2026_07_02_14_24_33_train/lerobot_v3.0/meta/annotations.jsonl

@@ -36,4 +36,4 @@
 {"source_uid": "5cc494811141bd9f", "num_frames": 2132, "episode_id": "POC22002_2026_07_02_15_50_47_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/DealingtheCards/season_POC22002_2026_07_02_14_24_33_train/POC22002_2026_07_02_15_50_47_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/DealingtheCards/season_POC22002_2026_07_02_14_24_33_train/POC22002_2026_07_02_15_50_47_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/DealingtheCards/season_POC22002_2026_07_02_14_24_33_train/POC22002_2026_07_02_15_50_47_train/train_0.3.0@2026_07_02_15_50_47.hdf5", "tags": {"task_name": "DealingtheCards", "task_instruction": "Grip the playing card box with the right hand and lift it from the table. Deliver the card box to the left hand, and take it over with the left hand. Draw five playing cards from the box one by one with the right hand and place each card on the table. 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the third playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1305, "end_step": 1448, "id": "subtask-010", "text": "Place the third playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1449, "end_step": 1600, "id": "subtask-011", "text": "Draw the fourth playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1601, "end_step": 1728, "id": "subtask-012", "text": "Place the fourth playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1729, "end_step": 1872, "id": "subtask-013", "text": "Draw the fifth playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1873, "end_step": 1992, "id": "subtask-014", "text": "Place the fifth playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1993, "end_step": 2064, "id": "subtask-015", "text": "Move the remaining playing cards close to the card tray with the left hand. | Skill: deliver", "task_skill": "deliver", "atomic_action": []}, {"label": "subtasks", "start_step": 2065, "end_step": 2088, "id": "subtask-016", "text": "Place the remaining playing cards into the card tray with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 240, "id": "subtask-001", "text": "Grip the playing card box on the table with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 280, "id": "subtask-002", "text": "Lift the playing card box from the table with the right hand. | Skill: lift", "task_skill": "lift", "atomic_action": []}, {"label": "subtasks", "start_step": 281, "end_step": 384, "id": "subtask-003", "text": "Deliver the playing card box from the right hand toward the left hand. | Skill: handover", "task_skill": "handover", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 424, "id": "subtask-004", "text": "Take over and securely hold the playing card box with the left hand. | Skill: takeover", "task_skill": "takeover", "atomic_action": []}, {"label": "subtasks", "start_step": 425, "end_step": 688, "id": "subtask-005", "text": "Draw the first playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 689, "end_step": 840, "id": "subtask-006", "text": "Place the first playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 1000, "id": "subtask-007", "text": "Draw the second playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1001, "end_step": 1136, "id": "subtask-008", "text": "Place the second playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1137, "end_step": 1304, "id": "subtask-009", "text": "Draw the third playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1305, "end_step": 1448, "id": "subtask-010", "text": "Place the third playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1449, "end_step": 1600, "id": "subtask-011", "text": "Draw the fourth playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1601, "end_step": 1728, "id": "subtask-012", "text": "Place the fourth playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1729, "end_step": 1872, "id": "subtask-013", "text": "Draw the fifth playing card from the card box with the right hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 1873, "end_step": 1992, "id": "subtask-014", "text": "Place the fifth playing card flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1993, "end_step": 2064, "id": "subtask-015", "text": "Move the remaining playing cards close to the card tray with the left hand. | Skill: deliver", "task_skill": "deliver", "atomic_action": []}, {"label": "subtasks", "start_step": 2065, "end_step": 2088, "id": "subtask-016", "text": "Place the remaining playing cards into the card tray with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: DealingtheCards | Instruction: Grip the playing card box with the right hand and lift it from the table. Deliver the card box to the left hand, and take it over with the left hand. Draw five playing cards from the box one by one with the right hand and place each card on the table. Finally, move the remaining cards toward the card tray with the left hand and place them into the tray. | Scene: A box of playing cards and a card tray are placed on the table. The robot needs to pick up the card box, transfer it from the right hand to the left hand, deal five cards onto the table one by one, and place the remaining cards into the card tray. | Success: Five playing cards are individually drawn and placed flat on the table. The remaining cards are placed securely inside the card tray, and no cards are dropped, bent, or misplaced.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/deal_playing_cards/season_POC22002_2026_07_02_14_24_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 35, "v40_language_source": "previous_published_lerobot", "episode_index": 35}
 {"source_uid": "24a3e7418a570a7f", "num_frames": 2045, "episode_id": "POC22002_2026_07_02_15_52_57_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/DealingtheCards/season_POC22002_2026_07_02_14_24_33_train/POC22002_2026_07_02_15_52_57_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/DealingtheCards/season_POC22002_2026_07_02_14_24_33_train/POC22002_2026_07_02_15_52_57_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/DealingtheCards/season_POC22002_2026_07_02_14_24_33_train/POC22002_2026_07_02_15_52_57_train/train_0.3.0@2026_07_02_15_52_57.hdf5", "tags": {"task_name": "DealingtheCards", "task_instruction": "Grip the playing card box with the right hand and lift it from the table. Deliver the card box to the left hand, and take it over with the left hand. Draw five playing cards from the box one by one with the right hand and place each card on the table. 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Right hand lifts the pink sponge up from the black tabletop."}, {"label": "goal", "start_step": 281, "end_step": 360, "id": "01294f1a-31a0-4c2b-8471-b4763b0487d9"}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the pink sponge towards the left hand."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves towards the pink sponge with fingers opened. | Right hand: transport: Right hand transports the pink sponge towards the left hand."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty with open fingers at the left side without moving. | Right hand: place: Right hand holds the red card and moves it to the left hand, placing 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deal_playing_cards/season_POC22002_2026_07_02_16_25_25_train/lerobot_v2.1/meta/episodes.jsonl

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 {"episode_index": 16, "tasks": ["Task: DealingtheCards | Instruction: Grip the playing card box with the right hand and lift it from the table. Deliver the card box to the left hand, and take it over with the left hand. Draw five playing cards from the box one by one with the right hand and place each card on the table. Finally, move the remaining cards toward the card tray with the left hand and place them into the tray. | Scene: A box of playing cards and a card tray are placed on the table. The robot needs to pick up the card box, transfer it from the right hand to the left hand, deal five cards onto the table one by one, and place the remaining cards into the card tray. | Success: Five playing cards are individually drawn and placed flat on the table. The remaining cards are placed securely inside the card tray, and no cards are dropped, bent, or misplaced."], "length": 2165}
 {"episode_index": 17, "tasks": ["Task: DealingtheCards | Instruction: Grip the playing card box with the right hand and lift it from the table. Deliver the card box to the left hand, and take it over with the left hand. Draw five playing cards from the box one by one with the right hand and place each card on the table. Finally, move the remaining cards toward the card tray with the left hand and place them into the tray. | Scene: A box of playing cards and a card tray are placed on the table. The robot needs to pick up the card box, transfer it from the right hand to the left hand, deal five cards onto the table one by one, and place the remaining cards into the card tray. | Success: Five playing cards are individually drawn and placed flat on the table. The remaining cards are placed securely inside the card tray, and no cards are dropped, bent, or misplaced."], "length": 2058}
 {"episode_index": 18, "tasks": ["Task: DealingtheCards | Instruction: Grip the playing card box with the right hand and lift it from the table. Deliver the card box to the left hand, and take it over with the left hand. Draw five playing cards from the box one by one with the right hand and place each card on the table. Finally, move the remaining cards toward the card tray with the left hand and place them into the tray. | Scene: A box of playing cards and a card tray are placed on the table. The robot needs to pick up the card box, transfer it from the right hand to the left hand, deal five cards onto the table one by one, and place the remaining cards into the card tray. | Success: Five playing cards are individually drawn and placed flat on the table. The remaining cards are placed securely inside the card tray, and no cards are dropped, bent, or misplaced."], "length": 2003}
-{"episode_index": 19, "tasks": ["Task: DealingtheCards"], "length": 2008}
+{"episode_index": 19, "tasks": ["Task: DealingtheCards | Scene: A tabletop workspace contains a deck of playing cards and space for placing individual cards. The robot hands manipulate the deck and separate cards over the table."], "length": 2008}
 {"episode_index": 20, "tasks": ["Task: DealingtheCards | Instruction: Grip the playing card box with the right hand and lift it from the table. Deliver the card box to the left hand, and take it over with the left hand. Draw five playing cards from the box one by one with the right hand and place each card on the table. Finally, move the remaining cards toward the card tray with the left hand and place them into the tray. | Scene: A box of playing cards and a card tray are placed on the table. The robot needs to pick up the card box, transfer it from the right hand to the left hand, deal five cards onto the table one by one, and place the remaining cards into the card tray. | Success: Five playing cards are individually drawn and placed flat on the table. The remaining cards are placed securely inside the card tray, and no cards are dropped, bent, or misplaced."], "length": 1774}
 {"episode_index": 21, "tasks": ["Task: DealingtheCards | Instruction: Grip the playing card box with the right hand and lift it from the table. Deliver the card box to the left hand, and take it over with the left hand. Draw five playing cards from the box one by one with the right hand and place each card on the table. Finally, move the remaining cards toward the card tray with the left hand and place them into the tray. | Scene: A box of playing cards and a card tray are placed on the table. The robot needs to pick up the card box, transfer it from the right hand to the left hand, deal five cards onto the table one by one, and place the remaining cards into the card tray. | Success: Five playing cards are individually drawn and placed flat on the table. The remaining cards are placed securely inside the card tray, and no cards are dropped, bent, or misplaced."], "length": 2112}
 {"episode_index": 22, "tasks": ["Task: DealingtheCards | Instruction: Grip the playing card box with the right hand and lift it from the table. Deliver the card box to the left hand, and take it over with the left hand. Draw five playing cards from the box one by one with the right hand and place each card on the table. Finally, move the remaining cards toward the card tray with the left hand and place them into the tray. | Scene: A box of playing cards and a card tray are placed on the table. The robot needs to pick up the card box, transfer it from the right hand to the left hand, deal five cards onto the table one by one, and place the remaining cards into the card tray. | Success: Five playing cards are individually drawn and placed flat on the table. The remaining cards are placed securely inside the card tray, and no cards are dropped, bent, or misplaced."], "length": 2057}

deal_playing_cards/season_POC22002_2026_07_02_16_25_25_train/lerobot_v2.1/meta/tasks.jsonl

@@ -1,2 +1,2 @@
 {"task_index": 0, "task": "Task: DealingtheCards | Instruction: Grip the playing card box with the right hand and lift it from the table. Deliver the card box to the left hand, and take it over with the left hand. Draw five playing cards from the box one by one with the right hand and place each card on the table. Finally, move the remaining cards toward the card tray with the left hand and place them into the tray. | Scene: A box of playing cards and a card tray are placed on the table. The robot needs to pick up the card box, transfer it from the right hand to the left hand, deal five cards onto the table one by one, and place the remaining cards into the card tray. | Success: Five playing cards are individually drawn and placed flat on the table. The remaining cards are placed securely inside the card tray, and no cards are dropped, bent, or misplaced."}
-{"task_index": 1, "task": "Task: DealingtheCards"}
+{"task_index": 1, "task": "Task: DealingtheCards | Scene: A tabletop workspace contains a deck of playing cards and space for placing individual cards. The robot hands manipulate the deck and separate cards over the table."}

deal_playing_cards/season_POC22002_2026_07_02_16_25_25_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet

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