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diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v2.1/meta/annotations.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7f6b8cee250b6a0299a5f9dbea013bac4e19242b
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,22 @@
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diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v2.1/meta/episodes.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d86352f9dc62494829bd0f99ac4ba009413238e8
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,22 @@
+{"episode_index": 0, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1121}
+{"episode_index": 1, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1322}
+{"episode_index": 2, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1224}
+{"episode_index": 3, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1438}
+{"episode_index": 4, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1284}
+{"episode_index": 5, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1335}
+{"episode_index": 6, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1130}
+{"episode_index": 7, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1169}
+{"episode_index": 8, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1179}
+{"episode_index": 9, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1190}
+{"episode_index": 10, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1154}
+{"episode_index": 11, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1134}
+{"episode_index": 12, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1126}
+{"episode_index": 13, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1153}
+{"episode_index": 14, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1081}
+{"episode_index": 15, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1157}
+{"episode_index": 16, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1131}
+{"episode_index": 17, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1207}
+{"episode_index": 18, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1260}
+{"episode_index": 19, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1108}
+{"episode_index": 20, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1340}
+{"episode_index": 21, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1142}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v2.1/meta/episodes_stats.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fe4b8d489a1a389045a38afb40bce7e92815fc85
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,22 @@
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diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v2.1/meta/info.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce26e5143ba9c9f714d9c9ae11ff0e7ce1e949bf
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v2.1/meta/modality.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v2.1/meta/subtasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a27c68f29b92cc8683c5772c8934595261e9e994
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,5 @@
+{"subtask_index": 0, "subtask": "Pick up the trash bag with both hands. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Open the trash bag with both hands. | Skill: open"}
+{"subtask_index": 2, "subtask": "Fit the opened trash bag into the trash bin with both hands. | Skill: place"}
+{"subtask_index": 3, "subtask": "Press the trash bag onto the trash bin with the hands to secure it. | Skill: press"}
+{"subtask_index": 4, "subtask": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v2.1/meta/tasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..46ab3f9182fc7e452a4cf5c8b3660d006a7020fc
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v2.1/meta/v40_validation.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d8b86e26dad448d3f549d6c26f9096d0af119fb
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 22,
+  "frames": 26385,
+  "video_frames": {
+    "observation.images.head_left": 26385,
+    "observation.images.wrist_left": 26385,
+    "observation.images.wrist_right": 26385,
+    "observation.images.head_right": 26385,
+    "observation.images.tactile_deform": 26385,
+    "observation.images.tactile_raw": 26385
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 22
+}
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diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v3.0/meta/annotations.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7f6b8cee250b6a0299a5f9dbea013bac4e19242b
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,22 @@
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+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
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+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
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+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v3.0/meta/modality.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
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+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
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+      "end": 65,
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+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v3.0/meta/stats.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5031b159a3823e05252cca214a775247f8d627b
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_19_35_29_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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{"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag on the trash can rim without movement. | Right hand: reach: Right hand moves downward with slightly curved, empty fingers, approaching the inner surface of the black garbage bag inside the trash bin."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag on the trash can rim without movement. | Right hand: press: Right hand presses downward against the inner surface of the black garbage bag, applying steady downward pressure to push the plastic against the trash bin interior."}, {"label": "subtasks", "start_step": 420, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag on the trash can rim without movement. | Right 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left edge of the black garbage bag and pulls it toward the left to widen the bag opening. | Right hand: pull: Right hand grips the right edge of the black garbage bag and pulls it toward the right to widen the bag opening."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: pull: Right hand grips the right edge of the black garbage bag and pulls it toward the right to widen the bag opening."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: release: Right hand opens its fingers to release the right edge of the black garbage bag, separating from the bag."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: reach: Right hand moves downward with open fingers, approaching the right edge of the black garbage bag placed in the trash bin."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: grasp: Right hand closes fingers around the right edge of the black garbage bag, making small adjustments to establish a stable grip on the bag."}, {"label": "subtasks", "start_step": 712, "end_step": 831, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: pull: Right hand firmly grips the right edge of the garbage bag and pulls it downward and to the right, drawing the flexible bag out of the trash bin toward itself."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: release: Right hand opens its fingers to release the grip on the right edge of the garbage bag."}, {"label": "subtasks", "start_step": 855, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: reach: Right hand moves empty downward and leftward from its initial position on the right side of the frame toward the opening of the black garbage bag."}, {"label": "subtasks", "start_step": 908, "end_step": 997, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: press: Right hand inserts into the interior of the black garbage bag and presses downward against the inner plastic surface, applying vertical pressure to push the bag material further down."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: retreat: Right hand moves upward and backward out of the black garbage bag, retreating away from the bag opening after completing the pressing action."}, {"label": "subtasks", "start_step": 1050, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: return_home: Left hand stays empty while moving upward to return to the initial raised neutral home position, with fingers extending gradually during the upward movement. | Right hand: return_home: Right hand stays empty while moving upward and slightly inward to return to the initial raised neutral home position, with fingers adjusting to a fully extended posture during movement."}, {"label": "subtasks", "start_step": 1140, "end_step": 1241, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the raised initial neutral home position with no observable movement. | Right hand: idle: Right hand remains empty and stationary at the raised initial neutral home position with no observable movement."}], "episode_index": 8}
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"reasoning-language-00009", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: grasp: Right hand closes fingers to grasp the edge of the black plastic bag, forming a stable grip."}, {"label": "subtasks", "start_step": 315, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: transport: Left hand holds the black plastic bag and moves downward towards the trash bin. | Right hand: transport: Right hand holds the black plastic bag and moves downward towards the trash bin."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: place: Left hand places the edge of the black plastic bag onto the rim of the trash bin. | Right hand: place: Right hand places the edge of the black plastic bag onto the rim of the trash bin."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: grasp: Left hand adjusts the grip on the edge of the black plastic bag on the trash bin rim. | Right hand: release: Right hand releases the edge of the black plastic bag, fingers gradually open to separate from the bag."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: reach: Right hand moves towards the opening of the black plastic bag."}, {"label": "subtasks", "start_step": 488, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: press: Right hand inserts into the black plastic bag and presses against its inner wall."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: retreat: Right hand moves out of the black plastic bag away from the opening."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag outward. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag on the trash bin."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag outward. | Right hand: pull: Right hand pulls the grasped right edge of the black plastic bag outward."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00018", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the rim of the trash bin. | Right hand: pull: Right hand pulls the grasped right edge of the black plastic bag outward."}, {"label": "subtasks", "start_step": 712, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the rim of the trash bin. | Right hand: fold: Right hand folds the pulled edge of the black plastic bag over the rim of the trash bin."}, {"label": "subtasks", "start_step": 728, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: fold: Right hand folds the pulled edge of the black plastic bag over the rim of the trash bin."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: release: Right hand releases the folded edge of the black plastic bag and moves backward."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: reach: Right hand moves toward the right edge of the black plastic bag on the trash bin."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: grasp: Right hand closes its fingers to grasp the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 825, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: pull: Right hand pulls the right edge of the black plastic bag downward."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: reach: Right hand moves towards the black plastic bag from the right side of the frame."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: other:adjust_plastic_bag: Right hand inserts into the black plastic bag and adjusts the inner position of the bag."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: retreat: Right hand moves out of the black plastic bag and retracts slightly upwards."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: release: Left hand releases the edge of the container under the black plastic bag. | Right hand: retreat: Right hand moves out of the black plastic bag and retracts slightly upwards."}, {"label": "home", "start_step": 1072, "end_step": 1219, "id": "kItxlnIf4VeApWMAEGCta"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward toward the black plastic bag on the left side of the table. | Right hand: reach: Right hand moves downward toward the black plastic bag on the left side of the table."}, {"label": "subtasks", "start_step": 60, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: reach: Left hand moves towards the black plastic bag placed next to the trash bin on the table. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand closes its fingers to grasp the black plastic bag, with slight finger adjustments to stabilize the grip. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag upward above the table surface and moves it towards the trash bin. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: reach: Right hand moves left toward the black plastic bag, with fingers open and no contact with the bag."}, {"label": "subtasks", "start_step": 180, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: grasp: Right hand closes fingers to touch and adjust grip on the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: retreat: Right hand moves right away from the black plastic bag, remaining empty."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: reach: Right hand moves left toward the black plastic bag again, with fingers open."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: grasp: Right hand closes fingers to grasp the edge of the black plastic bag, forming a stable grip."}, {"label": "subtasks", "start_step": 315, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: transport: Left hand holds the black plastic bag and moves downward towards the trash bin. | Right hand: transport: Right hand holds the black plastic bag and moves downward towards the trash bin."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: place: Left hand places the edge of the black plastic bag onto the rim of the trash bin. | Right hand: place: Right hand places the edge of the black plastic bag onto the rim of the trash bin."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: grasp: Left hand adjusts the grip on the edge of the black plastic bag on the trash bin rim. | Right hand: release: Right hand releases the edge of the black plastic bag, fingers gradually open to separate from the bag."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: reach: Right hand moves towards the opening of the black plastic bag."}, {"label": "subtasks", "start_step": 488, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: press: Right hand inserts into the black plastic bag and presses against its inner wall."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: retreat: Right hand moves out of the black plastic bag away from the opening."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag outward. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag on the trash bin."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag outward. | Right hand: pull: Right hand pulls the grasped right edge of the black plastic bag outward."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00018", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the rim of the trash bin. | Right hand: pull: Right hand pulls the grasped right edge of the black plastic bag outward."}, {"label": "subtasks", "start_step": 712, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the rim of the trash bin. | Right hand: fold: Right hand folds the pulled edge of the black plastic bag over the rim of the trash bin."}, {"label": "subtasks", "start_step": 728, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: fold: Right hand folds the pulled edge of the black plastic bag over the rim of the trash bin."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: release: Right hand releases the folded edge of the black plastic bag and moves backward."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: reach: Right hand moves toward the right edge of the black plastic bag on the trash bin."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: grasp: Right hand closes its fingers to grasp the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 825, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: pull: Right hand pulls the right edge of the black plastic bag downward."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: reach: Right hand moves towards the black plastic bag from the right side of the frame."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: other:adjust_plastic_bag: Right hand inserts into the black plastic bag and adjusts the inner position of the bag."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: retreat: Right hand moves out of the black plastic bag and retracts slightly upwards."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: release: Left hand releases the edge of the container under the black plastic bag. | Right hand: retreat: Right hand moves out of the black plastic bag and retracts slightly upwards."}], "episode_index": 19}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v2.1/meta/annotations.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eb4f49a57b0862006928821eecf9dd80fa8eae64
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,20 @@
+{"source_uid": "a08ed793964ee323", "num_frames": 1348, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position.", "tags": {"task_name": "Fit Trash Bag into Trash Bin", "task_instruction": "Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin.", "scene_description": "A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place.", "success_criteria": "The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Pick up the trash bag with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 294, "id": "subtask-002", "text": "Open the trash bag with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 524, "id": "subtask-003", "text": "Fit the opened trash bag into the trash bin with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 525, "end_step": 1214, "id": "subtask-004", "text": "Press the trash bag onto the trash bin with the hands to secure it. | Skill: press", "task_skill": "press", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Pick up the trash bag with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 294, "id": "subtask-002", "text": "Open the trash bag with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 524, "id": "subtask-003", "text": "Fit the opened trash bag into the trash bin with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 525, "end_step": 1214, "id": "subtask-004", "text": "Press the trash bag onto the trash bin with the hands to secure it. | Skill: press", "task_skill": "press", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Fit_Trash_Bag_into_Trash_Bin/season_POC22027_2026_06_07_11_06_02_train/POC22027_2026_06_07_11_06_02_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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the black garbage bag, making small adjustments to finger positions to form a stable grip, with the garbage bag remaining on the supporting surface. | Right hand: idle: Right hand remains empty at the right side of the view without moving, and does not contact any operated object."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand moves upward while holding the edge of the black garbage bag, lifting the bag away from the supporting surface. | Right hand: idle: Right hand remains empty at the right side of the view without moving, and does not contact any operated object."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: transport: Left hand holds the left edge of the black garbage bag, moves slightly up and right to position the bag over the trash can. | Right hand: reach: Right hand, empty, moves left toward the opposite edge of the black 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"start_step": 480, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: pull: Left hand grips the left edge of the black garbage bag and pulls it toward the left to widen the bag opening. | Right hand: reach: Right hand moves toward the right edge of the black garbage bag with an open hand, not yet touching the bag."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: pull: Left hand grips the left edge of the black garbage bag and pulls it toward the left to widen the bag opening. | Right hand: grasp: Right hand makes contact with the right edge of the black garbage bag, fingers close to form a stable grip on the bag."}, {"label": "subtasks", "start_step": 532, "end_step": 591, "id": "reasoning-language-00015", "text": "Left hand: pull: Left hand grips the left edge of the black garbage bag and pulls it toward the left to widen the bag opening. | Right hand: pull: Right hand grips the right edge of the 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{"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag on the trash can rim without movement. | Right hand: reach: Right hand moves downward with slightly curved, empty fingers, approaching the inner surface of the black garbage bag inside the trash bin."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag on the trash can rim without movement. | Right hand: press: Right hand presses downward against the inner surface of the black garbage bag, applying steady downward pressure to push the plastic against the trash bin interior."}, {"label": "subtasks", "start_step": 420, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag on the trash can rim without movement. | Right hand: retreat: Right hand moves upward empty, retreating out of the garbage bag interior to a position above the bag opening."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: pull: Left hand grips the left edge of the black garbage bag and pulls it toward the left to widen the bag opening. | Right hand: reach: Right hand moves toward the right edge of the black garbage bag with an open hand, not yet touching the bag."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: pull: Left hand grips the left edge of the black garbage bag and pulls it toward the left to widen the bag opening. | Right hand: grasp: Right hand makes contact with the right edge of the black garbage bag, fingers close to form a stable grip on the bag."}, {"label": "subtasks", "start_step": 532, "end_step": 591, "id": "reasoning-language-00015", "text": "Left hand: pull: Left hand grips the 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"end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: reach: Right hand moves downward with open fingers, approaching the right edge of the black garbage bag placed in the trash bin."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: grasp: Right hand closes fingers around the right edge of the black garbage bag, making small adjustments to establish a stable grip on the bag."}, {"label": "subtasks", "start_step": 712, "end_step": 831, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: pull: Right hand firmly grips 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Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: press: Right hand inserts into the interior of the black garbage bag and presses downward against the inner plastic surface, applying vertical pressure to push the bag material further down."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: retreat: Right hand moves upward and backward out of the black garbage bag, retreating away from the bag opening after completing the pressing action."}, {"label": "subtasks", "start_step": 1050, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: return_home: Left hand stays empty while moving upward to return to the initial raised neutral home position, with fingers extending gradually during the upward 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the table without moving."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand closes its fingers to grasp the black plastic bag, with slight finger adjustments to stabilize the grip. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag upward above the table surface and moves it towards the trash bin. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: reach: Right hand moves left toward the black plastic bag, with fingers open and no contact with the bag."}, {"label": "subtasks", "start_step": 180, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: grasp: Right hand closes fingers to touch and adjust grip on the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: retreat: Right hand moves right away from the black plastic bag, remaining empty."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: reach: Right hand moves left toward the black plastic bag again, with fingers open."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: grasp: Right hand closes fingers to grasp the edge of the black plastic bag, forming a stable grip."}, {"label": "subtasks", "start_step": 315, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: transport: Left hand holds the black plastic bag and moves downward towards the trash bin. | Right hand: transport: Right hand holds the black plastic bag and moves downward towards the trash bin."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: place: Left hand places the edge of the black plastic bag onto the rim of the trash bin. | Right hand: place: Right hand places the edge of the black plastic bag onto the rim of the trash bin."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: grasp: Left hand adjusts the grip on the edge of the black plastic bag on the trash bin rim. | Right hand: release: Right hand releases the edge of the black plastic bag, fingers gradually open to separate from the bag."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: reach: Right hand moves towards the opening of the black plastic bag."}, {"label": "subtasks", "start_step": 488, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: press: Right hand inserts into the black plastic bag and presses against its inner wall."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: retreat: Right hand moves out of the black plastic bag away from the opening."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag outward. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag on the trash bin."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag outward. | Right hand: pull: Right hand pulls the grasped right edge of the black plastic bag outward."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00018", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the rim of the trash bin. | Right hand: pull: Right hand pulls the grasped right edge of the black plastic bag outward."}, {"label": "subtasks", "start_step": 712, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the rim of the trash bin. | Right hand: fold: Right hand folds the pulled edge of the black plastic bag over the rim of the trash bin."}, {"label": "subtasks", "start_step": 728, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: fold: Right hand folds the pulled edge of the black plastic bag over the rim of the trash bin."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: release: Right hand releases the folded edge of the black plastic bag and moves backward."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: reach: Right hand moves toward the right edge of the black plastic bag on the trash bin."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: grasp: Right hand closes its fingers to grasp the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 825, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: pull: Right hand pulls the right edge of the black plastic bag downward."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: reach: Right hand moves towards the black plastic bag from the right side of the frame."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: other:adjust_plastic_bag: Right hand inserts into the black plastic bag and adjusts the inner position of the bag."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: retreat: Right hand moves out of the black plastic bag and retracts slightly upwards."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: release: Left hand releases the edge of the container under the black plastic bag. | Right hand: retreat: Right hand moves out of the black plastic bag and retracts slightly upwards."}, {"label": "home", "start_step": 1072, "end_step": 1219, "id": "kItxlnIf4VeApWMAEGCta"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward toward the black plastic bag on the left side of the table. | Right hand: reach: Right hand moves downward toward the black plastic bag on the left side of the table."}, {"label": "subtasks", "start_step": 60, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: reach: Left hand moves towards the black plastic bag placed next to the trash bin on the table. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand closes its fingers to grasp the black plastic bag, with slight finger adjustments to stabilize the grip. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag upward above the table surface and moves it towards the trash bin. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: reach: Right hand moves left toward the black plastic bag, with fingers open and no contact with the bag."}, {"label": "subtasks", "start_step": 180, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: grasp: Right hand closes fingers to touch and adjust grip on the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: retreat: Right hand moves right away from the black plastic bag, remaining empty."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: reach: Right hand moves left toward the black plastic bag again, with fingers open."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: grasp: Right hand closes fingers to grasp the edge of the black plastic bag, forming a stable grip."}, {"label": "subtasks", "start_step": 315, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: transport: Left hand holds the black plastic bag and moves downward towards the trash bin. | Right hand: transport: Right hand holds the black plastic bag and moves downward towards the trash bin."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: place: Left hand places the edge of the black plastic bag onto the rim of the trash bin. | Right hand: place: Right hand places the edge of the black plastic bag onto the rim of the trash bin."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: grasp: Left hand adjusts the grip on the edge of the black plastic bag on the trash bin rim. | Right hand: release: Right hand releases the edge of the black plastic bag, fingers gradually open to separate from the bag."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: reach: Right hand moves towards the opening of the black plastic bag."}, {"label": "subtasks", "start_step": 488, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: press: Right hand inserts into the black plastic bag and presses against its inner wall."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: retreat: Right hand moves out of the black plastic bag away from the opening."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag outward. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag on the trash bin."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag outward. | Right hand: pull: Right hand pulls the grasped right edge of the black plastic bag outward."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00018", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the rim of the trash bin. | Right hand: pull: Right hand pulls the grasped right edge of the black plastic bag outward."}, {"label": "subtasks", "start_step": 712, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the rim of the trash bin. | Right hand: fold: Right hand folds the pulled edge of the black plastic bag over the rim of the trash bin."}, {"label": "subtasks", "start_step": 728, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: fold: Right hand folds the pulled edge of the black plastic bag over the rim of the trash bin."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: release: Right hand releases the folded edge of the black plastic bag and moves backward."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: reach: Right hand moves toward the right edge of the black plastic bag on the trash bin."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: grasp: Right hand closes its fingers to grasp the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 825, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: pull: Right hand pulls the right edge of the black plastic bag downward."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: reach: Right hand moves towards the black plastic bag from the right side of the frame."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: other:adjust_plastic_bag: Right hand inserts into the black plastic bag and adjusts the inner position of the bag."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: retreat: Right hand moves out of the black plastic bag and retracts slightly upwards."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: release: Left hand releases the edge of the container under the black plastic bag. | Right hand: retreat: Right hand moves out of the black plastic bag and retracts slightly upwards."}], "episode_index": 19}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v2.1/meta/episodes.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..585e079f271a0a76ba9bac54a3db1f6f1d253386
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,20 @@
+{"episode_index": 0, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1348}
+{"episode_index": 1, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1515}
+{"episode_index": 2, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1513}
+{"episode_index": 3, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1379}
+{"episode_index": 4, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1370}
+{"episode_index": 5, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1441}
+{"episode_index": 6, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1237}
+{"episode_index": 7, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1249}
+{"episode_index": 8, "tasks": ["Task: Fit_Trash_Bag_into_Trash_Bin"], "length": 1242}
+{"episode_index": 9, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1458}
+{"episode_index": 10, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1295}
+{"episode_index": 11, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1142}
+{"episode_index": 12, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1101}
+{"episode_index": 13, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1245}
+{"episode_index": 14, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1135}
+{"episode_index": 15, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1496}
+{"episode_index": 16, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1238}
+{"episode_index": 17, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1059}
+{"episode_index": 18, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1113}
+{"episode_index": 19, "tasks": ["Task: Fit_Trash_Bag_into_Trash_Bin"], "length": 1220}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v2.1/meta/episodes_stats.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f09ae060748ff86f570cd2dd1b16677d7d003870
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,20 @@
+{"episode_index": 0, "stats": {"observation.state": {"min": [1.0497188568115234, -0.9533765316009521, -0.2505415976047516, 0.5948091149330139, -1.5743703842163086, -0.7538694739341736, -0.21961727738380432, 0.006227394565939903, -0.2996947467327118, -0.2902064621448517, -0.22375431656837463, 0.0034690429456532, 7.482076034648344e-05, 0.004830236546695232, 0.003013784298673272, 0.0008447205764241517, -0.0008637513383291662, 0.003042877186089754, 0.0033988396171480417, 0.000870439107529819, -0.0013889691326767206, -0.0017143151490017772, 0.0034605334512889385, 0.0008620141306892037, 0.014750472269952297, -0.0013460387708619237, 0.002970264293253422, 0.0033708291593939066, 0.000872656237334013, 0.8865922689437866, -1.1687116622924805, -0.20136134326457977, 0.5405480861663818, -2.106008768081665, -0.86528080701828, -0.45199835300445557, 0.012057841755449772, -0.29983168840408325, -0.1461254507303238, -0.15826639533042908, 0.006388513837009668, 0.004208855330944061, -0.0388433039188385, 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{"min": [24576], "max": [25795], "mean": [25185.5], "std": [352.1835458961705], "count": [1220]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1220]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.533351719379425]], [[0.5330042839050293]], [[0.5335073471069336]]], "std": [[[0.2916339039802551]], [[0.2917349338531494]], [[0.2920737862586975]]], "count": [1220]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.1889834702014923]], [[0.2719840705394745]], [[0.20882894098758698]]], "std": [[[0.15439915657043457]], [[0.18910560011863708]], [[0.14281442761421204]]], "count": [1220]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2418644279241562]], [[0.2903546988964081]], [[0.2215648740530014]]], "std": [[[0.16110993921756744]], 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[[0.24107477068901062]]], "count": [1220]}}}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v2.1/meta/info.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9c087cbbc101bf9190fad115b19d0552b675fd3
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 20,
+    "total_frames": 25796,
+    "total_tasks": 2,
+    "total_videos": 120,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:20"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v2.1/meta/modality.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v2.1/meta/subtasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..442c2e2912f9c99bcf2aea9493141852f168a3a5
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,60 @@
+{"subtask_index": 0, "subtask": "Pick up the trash bag with both hands. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Open the trash bag with both hands. | Skill: open"}
+{"subtask_index": 2, "subtask": "Fit the opened trash bag into the trash bin with both hands. | Skill: place"}
+{"subtask_index": 3, "subtask": "Press the trash bag onto the trash bin with the hands to secure it. | Skill: press"}
+{"subtask_index": 4, "subtask": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."}
+{"subtask_index": 5, "subtask": "Left hand: reach: Left hand moves downward toward the edge of the black garbage bag next to the cylindrical mesh trash bin, with fingers slightly open, without contacting the garbage bag. | Right hand: idle: Right hand remains empty at the right side of the view without moving, and does not contact any operated object."}
+{"subtask_index": 6, "subtask": "Left hand: grasp: Left hand closes fingers around the edge of the black garbage bag, making small adjustments to finger positions to form a stable grip, with the garbage bag remaining on the supporting surface. | Right hand: idle: Right hand remains empty at the right side of the view without moving, and does not contact any operated object."}
+{"subtask_index": 7, "subtask": "Left hand: lift: Left hand moves upward while holding the edge of the black garbage bag, lifting the bag away from the supporting surface. | Right hand: idle: Right hand remains empty at the right side of the view without moving, and does not contact any operated object."}
+{"subtask_index": 8, "subtask": "Left hand: transport: Left hand holds the left edge of the black garbage bag, moves slightly up and right to position the bag over the trash can. | Right hand: reach: Right hand, empty, moves left toward the opposite edge of the black garbage bag."}
+{"subtask_index": 9, "subtask": "Left hand: transport: Left hand holds the left edge of the black garbage bag, moves slightly up and right to position the bag over the trash can. | Right hand: grasp: Right hand closes fingers to grasp the opposite edge of the black garbage bag."}
+{"subtask_index": 10, "subtask": "Left hand: transport: Left hand holds the left edge of the black garbage bag, moves slightly up and right to position the bag over the trash can. | Right hand: transport_release: Right hand holds the garbage bag edge, moves it right and down to the trash can rim, opens fingers to release the bag edge."}
+{"subtask_index": 11, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag on the trash can rim without movement. | Right hand: transport_release: Right hand holds the garbage bag edge, moves it right and down to the trash can rim, opens fingers to release the bag edge."}
+{"subtask_index": 12, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag on the trash can rim without movement. | Right hand: retreat: Right hand, empty, moves right away from the trash can area."}
+{"subtask_index": 13, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag on the trash can rim without movement. | Right hand: release: Right hand opens its fingers to release the right edge of the black garbage bag, moving slightly upward away from the bag edge as grip is fully released."}
+{"subtask_index": 14, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag on the trash can rim without movement. | Right hand: reach: Right hand moves downward with slightly curved, empty fingers, approaching the inner surface of the black garbage bag inside the trash bin."}
+{"subtask_index": 15, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag on the trash can rim without movement. | Right hand: press: Right hand presses downward against the inner surface of the black garbage bag, applying steady downward pressure to push the plastic against the trash bin interior."}
+{"subtask_index": 16, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag on the trash can rim without movement. | Right hand: retreat: Right hand moves upward empty, retreating out of the garbage bag interior to a position above the bag opening."}
+{"subtask_index": 17, "subtask": "Left hand: pull: Left hand grips the left edge of the black garbage bag and pulls it toward the left to widen the bag opening. | Right hand: reach: Right hand moves toward the right edge of the black garbage bag with an open hand, not yet touching the bag."}
+{"subtask_index": 18, "subtask": "Left hand: pull: Left hand grips the left edge of the black garbage bag and pulls it toward the left to widen the bag opening. | Right hand: grasp: Right hand makes contact with the right edge of the black garbage bag, fingers close to form a stable grip on the bag."}
+{"subtask_index": 19, "subtask": "Left hand: pull: Left hand grips the left edge of the black garbage bag and pulls it toward the left to widen the bag opening. | Right hand: pull: Right hand grips the right edge of the black garbage bag and pulls it toward the right to widen the bag opening."}
+{"subtask_index": 20, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: pull: Right hand grips the right edge of the black garbage bag and pulls it toward the right to widen the bag opening."}
+{"subtask_index": 21, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: release: Right hand opens its fingers to release the right edge of the black garbage bag, separating from the bag."}
+{"subtask_index": 22, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: reach: Right hand moves downward with open fingers, approaching the right edge of the black garbage bag placed in the trash bin."}
+{"subtask_index": 23, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: grasp: Right hand closes fingers around the right edge of the black garbage bag, making small adjustments to establish a stable grip on the bag."}
+{"subtask_index": 24, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: pull: Right hand firmly grips the right edge of the garbage bag and pulls it downward and to the right, drawing the flexible bag out of the trash bin toward itself."}
+{"subtask_index": 25, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: release: Right hand opens its fingers to release the grip on the right edge of the garbage bag."}
+{"subtask_index": 26, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: reach: Right hand moves empty downward and leftward from its initial position on the right side of the frame toward the opening of the black garbage bag."}
+{"subtask_index": 27, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: press: Right hand inserts into the interior of the black garbage bag and presses downward against the inner plastic surface, applying vertical pressure to push the bag material further down."}
+{"subtask_index": 28, "subtask": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: retreat: Right hand moves upward and backward out of the black garbage bag, retreating away from the bag opening after completing the pressing action."}
+{"subtask_index": 29, "subtask": "Left hand: return_home: Left hand stays empty while moving upward to return to the initial raised neutral home position, with fingers extending gradually during the upward movement. | Right hand: return_home: Right hand stays empty while moving upward and slightly inward to return to the initial raised neutral home position, with fingers adjusting to a fully extended posture during movement."}
+{"subtask_index": 30, "subtask": "Left hand: idle: Left hand remains empty and stationary at the raised initial neutral home position with no observable movement. | Right hand: idle: Right hand remains empty and stationary at the raised initial neutral home position with no observable movement."}
+{"subtask_index": 31, "subtask": "Left hand: reach: Left hand moves downward toward the black plastic bag on the left side of the table. | Right hand: reach: Right hand moves downward toward the black plastic bag on the left side of the table."}
+{"subtask_index": 32, "subtask": "Left hand: reach: Left hand moves towards the black plastic bag placed next to the trash bin on the table. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}
+{"subtask_index": 33, "subtask": "Left hand: grasp: Left hand closes its fingers to grasp the black plastic bag, with slight finger adjustments to stabilize the grip. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}
+{"subtask_index": 34, "subtask": "Left hand: lift_transport: Left hand lifts the black plastic bag upward above the table surface and moves it towards the trash bin. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}
+{"subtask_index": 35, "subtask": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: reach: Right hand moves left toward the black plastic bag, with fingers open and no contact with the bag."}
+{"subtask_index": 36, "subtask": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: grasp: Right hand closes fingers to touch and adjust grip on the edge of the black plastic bag."}
+{"subtask_index": 37, "subtask": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: retreat: Right hand moves right away from the black plastic bag, remaining empty."}
+{"subtask_index": 38, "subtask": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: reach: Right hand moves left toward the black plastic bag again, with fingers open."}
+{"subtask_index": 39, "subtask": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: grasp: Right hand closes fingers to grasp the edge of the black plastic bag, forming a stable grip."}
+{"subtask_index": 40, "subtask": "Left hand: transport: Left hand holds the black plastic bag and moves downward towards the trash bin. | Right hand: transport: Right hand holds the black plastic bag and moves downward towards the trash bin."}
+{"subtask_index": 41, "subtask": "Left hand: place: Left hand places the edge of the black plastic bag onto the rim of the trash bin. | Right hand: place: Right hand places the edge of the black plastic bag onto the rim of the trash bin."}
+{"subtask_index": 42, "subtask": "Left hand: grasp: Left hand adjusts the grip on the edge of the black plastic bag on the trash bin rim. | Right hand: release: Right hand releases the edge of the black plastic bag, fingers gradually open to separate from the bag."}
+{"subtask_index": 43, "subtask": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: reach: Right hand moves towards the opening of the black plastic bag."}
+{"subtask_index": 44, "subtask": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: press: Right hand inserts into the black plastic bag and presses against its inner wall."}
+{"subtask_index": 45, "subtask": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: retreat: Right hand moves out of the black plastic bag away from the opening."}
+{"subtask_index": 46, "subtask": "Left hand: pull: Left hand pulls the left edge of the black plastic bag outward. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag on the trash bin."}
+{"subtask_index": 47, "subtask": "Left hand: pull: Left hand pulls the left edge of the black plastic bag outward. | Right hand: pull: Right hand pulls the grasped right edge of the black plastic bag outward."}
+{"subtask_index": 48, "subtask": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the rim of the trash bin. | Right hand: pull: Right hand pulls the grasped right edge of the black plastic bag outward."}
+{"subtask_index": 49, "subtask": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the rim of the trash bin. | Right hand: fold: Right hand folds the pulled edge of the black plastic bag over the rim of the trash bin."}
+{"subtask_index": 50, "subtask": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: fold: Right hand folds the pulled edge of the black plastic bag over the rim of the trash bin."}
+{"subtask_index": 51, "subtask": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: release: Right hand releases the folded edge of the black plastic bag and moves backward."}
+{"subtask_index": 52, "subtask": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: reach: Right hand moves toward the right edge of the black plastic bag on the trash bin."}
+{"subtask_index": 53, "subtask": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: grasp: Right hand closes its fingers to grasp the right edge of the black plastic bag."}
+{"subtask_index": 54, "subtask": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: pull: Right hand pulls the right edge of the black plastic bag downward."}
+{"subtask_index": 55, "subtask": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: reach: Right hand moves towards the black plastic bag from the right side of the frame."}
+{"subtask_index": 56, "subtask": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: other:adjust_plastic_bag: Right hand inserts into the black plastic bag and adjusts the inner position of the bag."}
+{"subtask_index": 57, "subtask": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: retreat: Right hand moves out of the black plastic bag and retracts slightly upwards."}
+{"subtask_index": 58, "subtask": "Left hand: release: Left hand releases the edge of the container under the black plastic bag. | Right hand: retreat: Right hand moves out of the black plastic bag and retracts slightly upwards."}
+{"subtask_index": 59, "subtask": "Task: Fit_Trash_Bag_into_Trash_Bin"}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v2.1/meta/tasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a55a3f04e8c7c367c9f91f733047137573a10c87
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1,2 @@
+{"task_index": 0, "task": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."}
+{"task_index": 1, "task": "Task: Fit_Trash_Bag_into_Trash_Bin"}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v2.1/meta/v40_validation.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..4facd61002f67797164f74a734138ea12835cdcb
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 20,
+  "frames": 25796,
+  "video_frames": {
+    "observation.images.head_left": 25796,
+    "observation.images.wrist_left": 25796,
+    "observation.images.wrist_right": 25796,
+    "observation.images.head_right": 25796,
+    "observation.images.tactile_deform": 25796,
+    "observation.images.tactile_raw": 25796
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 20
+}
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{"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag on the trash can rim without movement. | Right hand: reach: Right hand moves downward with slightly curved, empty fingers, approaching the inner surface of the black garbage bag inside the trash bin."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag on the trash can rim without movement. | Right hand: press: Right hand presses downward against the inner surface of the black garbage bag, applying steady downward pressure to push the plastic against the trash bin interior."}, {"label": "subtasks", "start_step": 420, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag on the trash can rim without movement. | Right 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left edge of the black garbage bag and pulls it toward the left to widen the bag opening. | Right hand: pull: Right hand grips the right edge of the black garbage bag and pulls it toward the right to widen the bag opening."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: pull: Right hand grips the right edge of the black garbage bag and pulls it toward the right to widen the bag opening."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: release: Right hand opens its fingers to release the right edge of the black garbage bag, separating from the bag."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: reach: Right hand moves downward with open fingers, approaching the right edge of the black garbage bag placed in the trash bin."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: grasp: Right hand closes fingers around the right edge of the black garbage bag, making small adjustments to establish a stable grip on the bag."}, {"label": "subtasks", "start_step": 712, "end_step": 831, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: pull: Right hand firmly grips the right edge of the garbage bag and pulls it downward and to the right, drawing the flexible bag out of the trash bin toward itself."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: release: Right hand opens its fingers to release the grip on the right edge of the garbage bag."}, {"label": "subtasks", "start_step": 855, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: reach: Right hand moves empty downward and leftward from its initial position on the right side of the frame toward the opening of the black garbage bag."}, {"label": "subtasks", "start_step": 908, "end_step": 997, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: press: Right hand inserts into the interior of the black garbage bag and presses downward against the inner plastic surface, applying vertical pressure to push the bag material further down."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: retreat: Right hand moves upward and backward out of the black garbage bag, retreating away from the bag opening after completing the pressing action."}, {"label": "subtasks", "start_step": 1050, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: return_home: Left hand stays empty while moving upward to return to the initial raised neutral home position, with fingers extending gradually during the upward movement. | Right hand: return_home: Right hand stays empty while moving upward and slightly inward to return to the initial raised neutral home position, with fingers adjusting to a fully extended posture during movement."}, {"label": "subtasks", "start_step": 1140, "end_step": 1241, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the raised initial neutral home position with no observable movement. | Right hand: idle: Right hand remains empty and stationary at the raised initial neutral home position with no observable movement."}], "episode_index": 8}
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"reasoning-language-00009", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: grasp: Right hand closes fingers to grasp the edge of the black plastic bag, forming a stable grip."}, {"label": "subtasks", "start_step": 315, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: transport: Left hand holds the black plastic bag and moves downward towards the trash bin. | Right hand: transport: Right hand holds the black plastic bag and moves downward towards the trash bin."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: place: Left hand places the edge of the black plastic bag onto the rim of the trash bin. | Right hand: place: Right hand places the edge of the black plastic bag onto the rim of the trash bin."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: grasp: Left hand adjusts the grip on the edge of the black plastic bag on the trash bin rim. | Right hand: release: Right hand releases the edge of the black plastic bag, fingers gradually open to separate from the bag."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: reach: Right hand moves towards the opening of the black plastic bag."}, {"label": "subtasks", "start_step": 488, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: press: Right hand inserts into the black plastic bag and presses against its inner wall."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: retreat: Right hand moves out of the black plastic bag away from the opening."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag outward. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag on the trash bin."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag outward. | Right hand: pull: Right hand pulls the grasped right edge of the black plastic bag outward."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00018", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the rim of the trash bin. | Right hand: pull: Right hand pulls the grasped right edge of the black plastic bag outward."}, {"label": "subtasks", "start_step": 712, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the rim of the trash bin. | Right hand: fold: Right hand folds the pulled edge of the black plastic bag over the rim of the trash bin."}, {"label": "subtasks", "start_step": 728, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: fold: Right hand folds the pulled edge of the black plastic bag over the rim of the trash bin."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: release: Right hand releases the folded edge of the black plastic bag and moves backward."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: reach: Right hand moves toward the right edge of the black plastic bag on the trash bin."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: grasp: Right hand closes its fingers to grasp the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 825, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: pull: Right hand pulls the right edge of the black plastic bag downward."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: reach: Right hand moves towards the black plastic bag from the right side of the frame."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: other:adjust_plastic_bag: Right hand inserts into the black plastic bag and adjusts the inner position of the bag."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: retreat: Right hand moves out of the black plastic bag and retracts slightly upwards."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: release: Left hand releases the edge of the container under the black plastic bag. | Right hand: retreat: Right hand moves out of the black plastic bag and retracts slightly upwards."}, {"label": "home", "start_step": 1072, "end_step": 1219, "id": "kItxlnIf4VeApWMAEGCta"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward toward the black plastic bag on the left side of the table. | Right hand: reach: Right hand moves downward toward the black plastic bag on the left side of the table."}, {"label": "subtasks", "start_step": 60, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: reach: Left hand moves towards the black plastic bag placed next to the trash bin on the table. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand closes its fingers to grasp the black plastic bag, with slight finger adjustments to stabilize the grip. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag upward above the table surface and moves it towards the trash bin. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: reach: Right hand moves left toward the black plastic bag, with fingers open and no contact with the bag."}, {"label": "subtasks", "start_step": 180, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: grasp: Right hand closes fingers to touch and adjust grip on the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: retreat: Right hand moves right away from the black plastic bag, remaining empty."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: reach: Right hand moves left toward the black plastic bag again, with fingers open."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: grasp: Right hand closes fingers to grasp the edge of the black plastic bag, forming a stable grip."}, {"label": "subtasks", "start_step": 315, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: transport: Left hand holds the black plastic bag and moves downward towards the trash bin. | Right hand: transport: Right hand holds the black plastic bag and moves downward towards the trash bin."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: place: Left hand places the edge of the black plastic bag onto the rim of the trash bin. | Right hand: place: Right hand places the edge of the black plastic bag onto the rim of the trash bin."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: grasp: Left hand adjusts the grip on the edge of the black plastic bag on the trash bin rim. | Right hand: release: Right hand releases the edge of the black plastic bag, fingers gradually open to separate from the bag."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: reach: Right hand moves towards the opening of the black plastic bag."}, {"label": "subtasks", "start_step": 488, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: press: Right hand inserts into the black plastic bag and presses against its inner wall."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: retreat: Right hand moves out of the black plastic bag away from the opening."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag outward. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag on the trash bin."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag outward. | Right hand: pull: Right hand pulls the grasped right edge of the black plastic bag outward."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00018", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the rim of the trash bin. | Right hand: pull: Right hand pulls the grasped right edge of the black plastic bag outward."}, {"label": "subtasks", "start_step": 712, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the rim of the trash bin. | Right hand: fold: Right hand folds the pulled edge of the black plastic bag over the rim of the trash bin."}, {"label": "subtasks", "start_step": 728, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: fold: Right hand folds the pulled edge of the black plastic bag over the rim of the trash bin."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: release: Right hand releases the folded edge of the black plastic bag and moves backward."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: reach: Right hand moves toward the right edge of the black plastic bag on the trash bin."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: grasp: Right hand closes its fingers to grasp the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 825, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: pull: Right hand pulls the right edge of the black plastic bag downward."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: reach: Right hand moves towards the black plastic bag from the right side of the frame."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: other:adjust_plastic_bag: Right hand inserts into the black plastic bag and adjusts the inner position of the bag."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: retreat: Right hand moves out of the black plastic bag and retracts slightly upwards."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: release: Left hand releases the edge of the container under the black plastic bag. | Right hand: retreat: Right hand moves out of the black plastic bag and retracts slightly upwards."}], "episode_index": 19}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v3.0/meta/annotations.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eb4f49a57b0862006928821eecf9dd80fa8eae64
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,20 @@
+{"source_uid": "a08ed793964ee323", "num_frames": 1348, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position.", "tags": {"task_name": "Fit Trash Bag into Trash Bin", "task_instruction": "Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin.", "scene_description": "A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place.", "success_criteria": "The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Pick up the trash bag with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 294, "id": "subtask-002", "text": "Open the trash bag with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 524, "id": "subtask-003", "text": "Fit the opened trash bag into the trash bin with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 525, "end_step": 1214, "id": "subtask-004", "text": "Press the trash bag onto the trash bin with the hands to secure it. | Skill: press", "task_skill": "press", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Pick up the trash bag with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 294, "id": "subtask-002", "text": "Open the trash bag with both hands. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 524, "id": "subtask-003", "text": "Fit the opened trash bag into the trash bin with both hands. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 525, "end_step": 1214, "id": "subtask-004", "text": "Press the trash bag onto the trash bin with the hands to secure it. | Skill: press", "task_skill": "press", "atomic_action": []}], "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Fit_Trash_Bag_into_Trash_Bin/season_POC22027_2026_06_07_11_06_02_train/POC22027_2026_06_07_11_06_02_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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the black garbage bag, making small adjustments to finger positions to form a stable grip, with the garbage bag remaining on the supporting surface. | Right hand: idle: Right hand remains empty at the right side of the view without moving, and does not contact any operated object."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand moves upward while holding the edge of the black garbage bag, lifting the bag away from the supporting surface. | Right hand: idle: Right hand remains empty at the right side of the view without moving, and does not contact any operated object."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: transport: Left hand holds the left edge of the black garbage bag, moves slightly up and right to position the bag over the trash can. | Right hand: reach: Right hand, empty, moves left toward the opposite edge of the black 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"start_step": 480, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: pull: Left hand grips the left edge of the black garbage bag and pulls it toward the left to widen the bag opening. | Right hand: reach: Right hand moves toward the right edge of the black garbage bag with an open hand, not yet touching the bag."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: pull: Left hand grips the left edge of the black garbage bag and pulls it toward the left to widen the bag opening. | Right hand: grasp: Right hand makes contact with the right edge of the black garbage bag, fingers close to form a stable grip on the bag."}, {"label": "subtasks", "start_step": 532, "end_step": 591, "id": "reasoning-language-00015", "text": "Left hand: pull: Left hand grips the left edge of the black garbage bag and pulls it toward the left to widen the bag opening. | Right hand: pull: Right hand grips the right edge of the 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{"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag on the trash can rim without movement. | Right hand: reach: Right hand moves downward with slightly curved, empty fingers, approaching the inner surface of the black garbage bag inside the trash bin."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag on the trash can rim without movement. | Right hand: press: Right hand presses downward against the inner surface of the black garbage bag, applying steady downward pressure to push the plastic against the trash bin interior."}, {"label": "subtasks", "start_step": 420, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag on the trash can rim without movement. | Right hand: retreat: Right hand moves upward empty, retreating out of the garbage bag interior to a position above the bag opening."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: pull: Left hand grips the left edge of the black garbage bag and pulls it toward the left to widen the bag opening. | Right hand: reach: Right hand moves toward the right edge of the black garbage bag with an open hand, not yet touching the bag."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: pull: Left hand grips the left edge of the black garbage bag and pulls it toward the left to widen the bag opening. | Right hand: grasp: Right hand makes contact with the right edge of the black garbage bag, fingers close to form a stable grip on the bag."}, {"label": "subtasks", "start_step": 532, "end_step": 591, "id": "reasoning-language-00015", "text": "Left hand: pull: Left hand grips the 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"end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: reach: Right hand moves downward with open fingers, approaching the right edge of the black garbage bag placed in the trash bin."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: grasp: Right hand closes fingers around the right edge of the black garbage bag, making small adjustments to establish a stable grip on the bag."}, {"label": "subtasks", "start_step": 712, "end_step": 831, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: pull: Right hand firmly grips 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Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: press: Right hand inserts into the interior of the black garbage bag and presses downward against the inner plastic surface, applying vertical pressure to push the bag material further down."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black garbage bag without observable movement, maintaining a stable grip. | Right hand: retreat: Right hand moves upward and backward out of the black garbage bag, retreating away from the bag opening after completing the pressing action."}, {"label": "subtasks", "start_step": 1050, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: return_home: Left hand stays empty while moving upward to return to the initial raised neutral home position, with fingers extending gradually during the upward 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the table without moving."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand closes its fingers to grasp the black plastic bag, with slight finger adjustments to stabilize the grip. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag upward above the table surface and moves it towards the trash bin. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: reach: Right hand moves left toward the black plastic bag, with fingers open and no contact with the bag."}, {"label": "subtasks", "start_step": 180, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: grasp: Right hand closes fingers to touch and adjust grip on the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: retreat: Right hand moves right away from the black plastic bag, remaining empty."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: reach: Right hand moves left toward the black plastic bag again, with fingers open."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the upper edge of the black plastic bag without observable movement. | Right hand: grasp: Right hand closes fingers to grasp the edge of the black plastic bag, forming a stable grip."}, {"label": "subtasks", "start_step": 315, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: transport: Left hand holds the black plastic bag and moves downward towards the trash bin. | Right hand: transport: Right hand holds the black plastic bag and moves downward towards the trash bin."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: place: Left hand places the edge of the black plastic bag onto the rim of the trash bin. | Right hand: place: Right hand places the edge of the black plastic bag onto the rim of the trash bin."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: grasp: Left hand adjusts the grip on the edge of the black plastic bag on the trash bin rim. | Right hand: release: Right hand releases the edge of the black plastic bag, fingers gradually open to separate from the bag."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: reach: Right hand moves towards the opening of the black plastic bag."}, {"label": "subtasks", "start_step": 488, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: press: Right hand inserts into the black plastic bag and presses against its inner wall."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: retreat: Right hand moves out of the black plastic bag away from the opening."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag outward. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag on the trash bin."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag outward. | Right hand: pull: Right hand pulls the grasped right edge of the black plastic bag outward."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00018", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the rim of the trash bin. | Right hand: pull: Right hand pulls the grasped right edge of the black plastic bag outward."}, {"label": "subtasks", "start_step": 712, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the rim of the trash bin. | Right hand: fold: Right hand folds the pulled edge of the black plastic bag over the rim of the trash bin."}, {"label": "subtasks", "start_step": 728, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: fold: Right hand folds the pulled edge of the black plastic bag over the rim of the trash bin."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: release: Right hand releases the folded edge of the black plastic bag and moves backward."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: reach: Right hand moves toward the right edge of the black plastic bag on the trash bin."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: grasp: Right hand closes its fingers to grasp the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 825, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: pull: Right hand pulls the right edge of the black plastic bag downward."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: reach: Right hand moves towards the black plastic bag from the right side of the frame."}, {"label": "subtasks", "start_step": 968, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: other:adjust_plastic_bag: Right hand inserts into the black plastic bag and adjusts the inner position of the bag."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the folded left edge of the black plastic bag against the trash bin rim without moving. | Right hand: retreat: Right hand moves out of the black plastic bag and retracts slightly upwards."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": 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+}
\ No newline at end of file
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v3.0/meta/modality.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
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+}
diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v3.0/meta/stats.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8d72842c4cfee4f51be90f0ecf78d616237d577
--- /dev/null
+++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_07_11_06_02_train/lerobot_v3.0/meta/stats.json
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diff --git a/fold_and_close_box/season_POC22027_2026_05_14_14_02_50_train/lerobot_v2.1/meta/annotations.jsonl b/fold_and_close_box/season_POC22027_2026_05_14_14_02_50_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..07b09ec698d4768856fb5bb30143018a10f54f5a
--- /dev/null
+++ b/fold_and_close_box/season_POC22027_2026_05_14_14_02_50_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,108 @@
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+{"source_uid": "279a58288bdc3792", "num_frames": 1823, "episode_id": "POC22027_2026_05_14_20_42_33_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_14_02_50_train/POC22027_2026_05_14_20_42_33_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_14_02_50_train/POC22027_2026_05_14_20_42_33_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/fold_box/season_POC22027_2026_05_14_14_02_50_train/POC22027_2026_05_14_20_42_33_train/train_0.3.0@2026_05_14_20_42_33.hdf5", "tags": {"task_name": "fold_box", "task_instruction": "Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape.", "scene_description": "A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package.", "success_criteria": "The paper box is completely folded into a stable packaging box with all flaps properly locked.", "score": "S", "SOP": "V1.1"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 269, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 270, "end_step": 646, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 647, "end_step": 1129, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1130, "end_step": 1383, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1384, "end_step": 1636, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1637, "end_step": 1688, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 269, "id": "subtask-001", "text": "Pick up the flat paper box with both hands. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 270, "end_step": 646, "id": "subtask-002", "text": "Open the flat paper box into a three-dimensional box. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 647, "end_step": 1129, "id": "subtask-003", "text": "Fold the four flaps on the first side of the paper box inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1130, "end_step": 1383, "id": "subtask-004", "text": "Flip the paper box over. | Skill: flip", "task_skill": "flip", "atomic_action": []}, {"label": "subtasks", "start_step": 1384, "end_step": 1636, "id": "subtask-005", "text": "Fold the two vertical side flaps inward. | Skill: fold", "task_skill": "fold", "atomic_action": []}, {"label": "subtasks", "start_step": 1637, "end_step": 1688, "id": "subtask-006", "text": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold", "task_skill": "fold", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/fold_and_close_box/season_POC22027_2026_05_14_14_02_50_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 107, "v40_language_source": "previous_published_lerobot", "episode_index": 107}
diff --git a/fold_and_close_box/season_POC22027_2026_05_14_14_02_50_train/lerobot_v2.1/meta/episodes.jsonl b/fold_and_close_box/season_POC22027_2026_05_14_14_02_50_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..39e3237c33b4c9936f51773b5efe9825f2d5356a
--- /dev/null
+++ b/fold_and_close_box/season_POC22027_2026_05_14_14_02_50_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,108 @@
+{"episode_index": 0, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1882}
+{"episode_index": 1, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1950}
+{"episode_index": 2, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1956}
+{"episode_index": 3, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1825}
+{"episode_index": 4, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1866}
+{"episode_index": 5, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1975}
+{"episode_index": 6, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1863}
+{"episode_index": 7, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2727}
+{"episode_index": 8, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1972}
+{"episode_index": 9, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1768}
+{"episode_index": 10, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2594}
+{"episode_index": 11, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2357}
+{"episode_index": 12, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2048}
+{"episode_index": 13, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2393}
+{"episode_index": 14, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2478}
+{"episode_index": 15, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1912}
+{"episode_index": 16, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2389}
+{"episode_index": 17, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2328}
+{"episode_index": 18, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2075}
+{"episode_index": 19, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1979}
+{"episode_index": 20, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1841}
+{"episode_index": 21, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1791}
+{"episode_index": 22, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1965}
+{"episode_index": 23, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2427}
+{"episode_index": 24, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1732}
+{"episode_index": 25, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1831}
+{"episode_index": 26, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2192}
+{"episode_index": 27, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2343}
+{"episode_index": 28, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2111}
+{"episode_index": 29, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1983}
+{"episode_index": 30, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2074}
+{"episode_index": 31, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2082}
+{"episode_index": 32, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1802}
+{"episode_index": 33, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2343}
+{"episode_index": 34, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1871}
+{"episode_index": 35, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2265}
+{"episode_index": 36, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2027}
+{"episode_index": 37, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1932}
+{"episode_index": 38, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1825}
+{"episode_index": 39, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1817}
+{"episode_index": 40, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2120}
+{"episode_index": 41, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2099}
+{"episode_index": 42, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1709}
+{"episode_index": 43, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1833}
+{"episode_index": 44, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2208}
+{"episode_index": 45, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2170}
+{"episode_index": 46, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2012}
+{"episode_index": 47, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1954}
+{"episode_index": 48, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1658}
+{"episode_index": 49, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1924}
+{"episode_index": 50, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1917}
+{"episode_index": 51, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1863}
+{"episode_index": 52, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1822}
+{"episode_index": 53, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1854}
+{"episode_index": 54, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2296}
+{"episode_index": 55, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1981}
+{"episode_index": 56, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1981}
+{"episode_index": 57, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1734}
+{"episode_index": 58, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2046}
+{"episode_index": 59, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1887}
+{"episode_index": 60, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1747}
+{"episode_index": 61, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1851}
+{"episode_index": 62, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2147}
+{"episode_index": 63, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2181}
+{"episode_index": 64, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1647}
+{"episode_index": 65, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1804}
+{"episode_index": 66, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1636}
+{"episode_index": 67, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1981}
+{"episode_index": 68, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2279}
+{"episode_index": 69, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1937}
+{"episode_index": 70, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2266}
+{"episode_index": 71, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2226}
+{"episode_index": 72, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2312}
+{"episode_index": 73, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2116}
+{"episode_index": 74, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2567}
+{"episode_index": 75, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2401}
+{"episode_index": 76, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2143}
+{"episode_index": 77, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2078}
+{"episode_index": 78, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1866}
+{"episode_index": 79, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1795}
+{"episode_index": 80, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2181}
+{"episode_index": 81, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2215}
+{"episode_index": 82, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1906}
+{"episode_index": 83, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1892}
+{"episode_index": 84, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1903}
+{"episode_index": 85, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2236}
+{"episode_index": 86, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1661}
+{"episode_index": 87, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1978}
+{"episode_index": 88, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2307}
+{"episode_index": 89, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2519}
+{"episode_index": 90, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2525}
+{"episode_index": 91, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2159}
+{"episode_index": 92, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2460}
+{"episode_index": 93, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2540}
+{"episode_index": 94, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2423}
+{"episode_index": 95, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2386}
+{"episode_index": 96, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2348}
+{"episode_index": 97, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2757}
+{"episode_index": 98, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2591}
+{"episode_index": 99, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1707}
+{"episode_index": 100, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2466}
+{"episode_index": 101, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2064}
+{"episode_index": 102, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2107}
+{"episode_index": 103, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2011}
+{"episode_index": 104, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 2163}
+{"episode_index": 105, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1740}
+{"episode_index": 106, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1950}
+{"episode_index": 107, "tasks": ["Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."], "length": 1823}
diff --git a/fold_and_close_box/season_POC22027_2026_05_14_14_02_50_train/lerobot_v2.1/meta/episodes_stats.jsonl b/fold_and_close_box/season_POC22027_2026_05_14_14_02_50_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a52520d69fb21db6ecb0023f9f83119dcc95e1ac
--- /dev/null
+++ b/fold_and_close_box/season_POC22027_2026_05_14_14_02_50_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,108 @@
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diff --git a/fold_and_close_box/season_POC22027_2026_05_14_14_02_50_train/lerobot_v2.1/meta/info.json b/fold_and_close_box/season_POC22027_2026_05_14_14_02_50_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b8e625203c806cbc1dd0c0e0d6d18676fe6c5af
--- /dev/null
+++ b/fold_and_close_box/season_POC22027_2026_05_14_14_02_50_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/fold_and_close_box/season_POC22027_2026_05_14_14_02_50_train/lerobot_v2.1/meta/modality.json b/fold_and_close_box/season_POC22027_2026_05_14_14_02_50_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/fold_and_close_box/season_POC22027_2026_05_14_14_02_50_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/fold_and_close_box/season_POC22027_2026_05_14_14_02_50_train/lerobot_v2.1/meta/subtasks.jsonl b/fold_and_close_box/season_POC22027_2026_05_14_14_02_50_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..131d0ba0a77e8749d26f5e037e9069cf1c01ac31
--- /dev/null
+++ b/fold_and_close_box/season_POC22027_2026_05_14_14_02_50_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,7 @@
+{"subtask_index": 0, "subtask": "Pick up the flat paper box with both hands. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Open the flat paper box into a three-dimensional box. | Skill: open"}
+{"subtask_index": 2, "subtask": "Fold the four flaps on the first side of the paper box inward. | Skill: fold"}
+{"subtask_index": 3, "subtask": "Flip the paper box over. | Skill: flip"}
+{"subtask_index": 4, "subtask": "Fold the two vertical side flaps inward. | Skill: fold"}
+{"subtask_index": 5, "subtask": "Fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Skill: fold"}
+{"subtask_index": 6, "subtask": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."}
diff --git a/fold_and_close_box/season_POC22027_2026_05_14_14_02_50_train/lerobot_v2.1/meta/tasks.jsonl b/fold_and_close_box/season_POC22027_2026_05_14_14_02_50_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..71bb98b4cebdb1cccde99aa011c3f304bd9c2935
--- /dev/null
+++ b/fold_and_close_box/season_POC22027_2026_05_14_14_02_50_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: fold_box | Instruction: Pick up the flat paper box with both hands. Open the paper box into a three-dimensional box. Fold the four flaps on the first side inward. Flip the paper box over. Fold the two vertical side flaps inward. Finally, fold the two horizontal flaps inward to seal the paper box into the final packaging shape. | Scene: A flat paper box is placed on the table. The robot needs to unfold the box, fold one side, flip it over, fold the vertical side flaps, and finally fold the horizontal flaps to complete the package. | Success: The paper box is completely folded into a stable packaging box with all flaps properly locked."}
diff --git a/fold_and_close_box/season_POC22027_2026_05_14_14_02_50_train/lerobot_v2.1/meta/v40_validation.json b/fold_and_close_box/season_POC22027_2026_05_14_14_02_50_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..11d807706e90ad29ef0e1f674c44b72d9accd2da
--- /dev/null
+++ b/fold_and_close_box/season_POC22027_2026_05_14_14_02_50_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 108,
+  "frames": 223657,
+  "video_frames": {
+    "observation.images.head_left": 223657,
+    "observation.images.wrist_left": 223657,
+    "observation.images.wrist_right": 223657,
+    "observation.images.head_right": 223657,
+    "observation.images.tactile_deform": 223657,
+    "observation.images.tactile_raw": 223657
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 108
+}
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